JPH0366582A - Compliance joint - Google Patents
Compliance jointInfo
- Publication number
- JPH0366582A JPH0366582A JP20060589A JP20060589A JPH0366582A JP H0366582 A JPH0366582 A JP H0366582A JP 20060589 A JP20060589 A JP 20060589A JP 20060589 A JP20060589 A JP 20060589A JP H0366582 A JPH0366582 A JP H0366582A
- Authority
- JP
- Japan
- Prior art keywords
- movable plate
- plate
- fixed plate
- spring
- fixed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000006073 displacement reaction Methods 0.000 claims description 2
- 230000001133 acceleration Effects 0.000 abstract description 7
- 230000000694 effects Effects 0.000 abstract description 6
- 238000009434 installation Methods 0.000 description 4
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 241000238366 Cephalopoda Species 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
Description
【発明の詳細な説明】
〔産業上の利用分野〕
本発明はコンプライアンス継ぎ手に関し、特に２つの独
立した物体を相互に結合する継ぎ手に関する。DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to compliance joints, and more particularly to joints for interconnecting two independent objects.
２つの独立した物体を相互に結合させる場合、各々の物
体の位置決め誤差が大きいと両者の結合部位の位置姿勢
を調整しつつ近接させ、過大な力が生じないよう結合動
作を実行する必要がある。When connecting two independent objects to each other, if the positioning error of each object is large, it is necessary to adjust the position and orientation of the joining parts of both objects and bring them closer together, and perform the joining operation so that excessive force is not generated. .
特に、２つの物体の結合動作を第３の動作主体であるロ
ボットなどを用いて自動的に実行させる場合、ロボット
本体及び前記２つの物体を損傷させないために過大な力
の発生を避ける必要がある。In particular, when a robot or the like as a third operating entity is used to automatically perform the joining operation of two objects, it is necessary to avoid generating excessive force in order to prevent damage to the robot body and the two objects. .
従来、このような位置決め誤差を吸収し、結合させる物
体間及びロボットと作業対象物体間に無理な力を生ヒさ
せることなく結合動作を実現するため、リモート・セン
ター・コンプライアンス・デバイス、すなわち、コンプ
ライアンス継ぎ手が用いられていた。これは、例えば、
ホイットニー（Ｄ、Ｅ、ＷＨＴＮＥＹ）らにより“アセ
ンブリー・リサーチパ（＾ｓｓｅｍｂｌｙ Ｒｅ５ｅａ
ｒｃｈ ）という題目でオートマチイカ〈＾ｕｔｏｍａ
ｔｉｃａ） ６巻１６号５９５頁から６１３頁に述べら
れている。本デバイスは平行移動と回転の組み合わせ方
向に対し、ある一定の範囲で変形して位置決め誤差の影
響を除去する機能を持つ。また、本デバイスをロボット
先端と前記２つの物体の何れか一方との間に継ぎ手とし
て挿入し、他方の物体に対して結合動作を実行した場合
、本デバイスが変形することにより物体相互の位置決め
誤差に対応した結合動作の修正がなされる。Conventionally, in order to absorb such positioning errors and realize the joining operation without creating unreasonable force between the objects to be joined or between the robot and the object to be worked on, a remote center compliance device, ie, a compliance device, has been used. A joint was used. This is, for example,
Whitney (D, E, WHTNEY) et al.
Automatic Squid (rch)
tica) Vol. 6, No. 16, pp. 595 to 613. This device has a function to remove the influence of positioning errors by deforming within a certain range in the combined direction of translation and rotation. In addition, if this device is inserted as a joint between the robot tip and either of the two objects, and a coupling operation is performed on the other object, the deformation of this device may cause positioning errors between the objects. The joining operation is modified accordingly.
上述した従来のコンプライアンス継ぎ手は一定方向に対
する変形機能により過大な力の発生を除去するために有
効であったが、変形の範囲が小さく、且つ、変形に必要
な力、すなわち、柔らかさの変更が困難であり、しかも
高価であるという欠点があった。The conventional compliance joint described above was effective in eliminating excessive force due to its deformation function in a certain direction, but the range of deformation was small and the force required for deformation, that is, changing the softness, was effective. It has the drawbacks of being difficult and expensive.
本発明の目的はこれらの課題を解決したコンプライアン
ス継ぎ手を提供することにある。An object of the present invention is to provide a compliance joint that solves these problems.
本発明は、２つの独立した物体を相互に結合する継ぎ手
において、前記第１の物体に接する固定板と、前記第２
の物体に接する可動板と、前記可動板を貫通し、且つ、
一端がそれぞれ前記固定板に垂直に固定される複数の支
持棒と、前記支持棒の他端に設置した止め板と、前記支
持棒に装着され、且つ、前記固定板と前記可動板との間
に設置される下部ばねと、前記支持棒に装着され、且つ
、前記可動板と前記止め板との間に設置される上部ばね
と、前記固定板と前記可動板とを結合する複数のダンパ
と、前記支持棒を貫通すると共に、前記固定板と前記下
部ばねとの間及び前記可動板と前記上部ばねとの間に設
置され、且つ、前記下部ばね及び前記上部ばねのずれを
防止するばね保持手段とを備えたことを特徴とする。The present invention provides a joint that connects two independent objects to each other, including a fixing plate in contact with the first object and a second object.
a movable plate that is in contact with the object; and a movable plate that penetrates the movable plate, and
a plurality of support rods each having one end fixed perpendicularly to the fixed plate; a stop plate installed at the other end of the support rod; and a stop plate attached to the support rod and between the fixed plate and the movable plate. a lower spring installed on the support rod; an upper spring installed on the support rod and between the movable plate and the stop plate; and a plurality of dampers connecting the fixed plate and the movable plate. , a spring holder that penetrates the support rod and is installed between the fixed plate and the lower spring and between the movable plate and the upper spring, and prevents the lower spring and the upper spring from shifting; It is characterized by comprising means.
次に、本発明について図面を参照して詳細に説明する。 Next, the present invention will be explained in detail with reference to the drawings.
第１図は本発明のコンプライアンス継ぎ手の一実施例を
示す斜視図である。第１図において、本発明のコンプラ
イアンス継ぎ手は可動板１．固定板２１把手３．下部ば
ね２１・２２・２３・２４、上部ばね３１・３２・３３
・３４．止め板４１・４２・４３・４４．支持棒５１・
５２・５３・５４、ばね保持手段６１・６２・６３・６
４・７１・７２・７３・７４及びダンパ８１−８２・８
３・８４・８５・８６より構成され、第１の物体に接す
るための固定板２は第２の物体に接するための可動板１
と対向しており、固定板２の対向面には可動板１を貫通
する支持棒５１・５２・５３・５４の一端がそれぞれ垂
直に固定され、且つ、他端には止め板４１・４２・４３
・４４がそれぞれ設置されている。この可動板１は支持
棒５１・５２・５３・５４を介して移動可能である。そ
して固定板２の支持棒取付は面の反対側の面には把手３
が固定されている。また、支持棒５１・５２・５３・５
４の固定板２と可動板１との間には下部ばね２１・２２
・２３・２４が装着され、支持棒５１゜５２・５３・５
４の可動板１と止め板４１・４２・４３・４４との間に
は上部ばね３１・３２・３３・３４が装着されている。FIG. 1 is a perspective view showing an embodiment of the compliance joint of the present invention. In FIG. 1, the compliance joint of the present invention has movable plates 1. Fixed plate 21 handle 3. Lower springs 21, 22, 23, 24, upper springs 31, 32, 33
・３４． Stopping plates 41, 42, 43, 44. Support rod 51・
52, 53, 54, spring holding means 61, 62, 63, 6
4, 71, 72, 73, 74 and damper 81-82, 8
3, 84, 85, and 86, the fixed plate 2 for contacting the first object is the movable plate 1 for contacting the second object.
One end of support rods 51, 52, 53, and 54 passing through the movable plate 1 is fixed perpendicularly to the opposite surface of the fixed plate 2, and stop plates 41, 42, and 54 are respectively fixed to the other end. 43
・44 are installed respectively. This movable plate 1 is movable via support rods 51, 52, 53, and 54. The support rod of the fixed plate 2 is attached to the handle 3 on the opposite side.
is fixed. In addition, support rods 51, 52, 53, 5
Lower springs 21 and 22 are installed between the fixed plate 2 and the movable plate 1 of 4.
・23 and 24 are installed, and support rods 51° 52, 53, 5
Upper springs 31, 32, 33, and 34 are installed between the movable plate 1 and the stop plates 41, 42, 43, and 44, respectively.
更に、可動板１と固定板２との間には、例えば、ダッシ
ュポットにて構成されるダンパ８１・８２・８３・８４
・８５・８６が結合されている。このダンパの設置方法
としては、−例として可動板１上に３つの設置点９４．
９５．９６を設け、同様に固定板２上にも３つの設置点
９１．９２．９３を設けておき、各設置点をそれぞれ２
つのダンパで接続する方法が考えられる。このとき、３
つの設置点の配置を三角形状とし、可動板１及び固定板
２上のそれぞれの三角形の頂点が反対方向を向くように
設置すると、全ダンパに加わる力が均一化さされて都合
がよい。また、固定板２と下部ばね２１・２２・２３・
２４との間にはこれらのばねのずれを防止するばね保持
手段６１・６２・６３・６４が支持棒５１・５２・５３
・５４に貫通されて装着され、同様に可動板１と上部ば
ね３１・３２・３３・３４との間にもこれらのばねのず
れを防止するばね保持手段７１・７２・７３・７４が支
持棒５１・５２・５３・５４に貫通されて装着されてい
る。なお、これらのばね保持手段の貫通穴の直径は予め
ばねの内径よりも小さく、且つ、支持棒上を移動可能な
大きさに設定されている。Further, between the movable plate 1 and the fixed plate 2, dampers 81, 82, 83, 84, which are configured by dashpots, for example, are provided.
・85 and 86 are combined. As an example, the damper can be installed at three installation points 94 on the movable plate 1.
Similarly, three installation points 91, 92, and 93 are provided on the fixed plate 2, and each installation point is
One possible method is to connect with two dampers. At this time, 3
It is convenient if the two installation points are arranged in a triangular shape and the vertices of the triangles on the movable plate 1 and fixed plate 2 face in opposite directions, since the forces applied to all dampers are made uniform. In addition, the fixed plate 2 and the lower springs 21, 22, 23,
24, there are spring holding means 61, 62, 63, 64 that prevent these springs from shifting between the support rods 51, 52, 53.
・Spring holding means 71, 72, 73, and 74 are provided as support rods that are inserted through the movable plate 1 and the upper springs 31, 32, 33, and 34 to prevent the springs from slipping. It is penetrated and attached to 51, 52, 53, and 54. Note that the diameter of the through hole of these spring holding means is set in advance to be smaller than the inner diameter of the spring and to a size that allows movement on the support rod.
上述した構成によれば、可動板１は固定板２に対して任
意の向に平行移動及び回転移動が可能となる。また、可
動板１の貫通穴の直径と支持棒５１・５２・５３・５４
との直径の差に応じて可動板１の横ずれ方向の可動範囲
を規制するこができ、更に、上下方向の可動範囲に関し
ては、支持棒５１・５２・５３・５４の長さにより規制
可能である。この可動板１に荷重が加わらない初期状態
においては、可動板１は下部ばね２１・２２・２３・２
４と上部ばね３Ｘ・３２・３３・３４とが釣り合った点
で保持されている。ここで前記結合動作が実行されると
、可動板１は固定板２との間に働く力の方向に応じて各
ばねが伸長・収縮し、可動板１は固定板２に対ｊ２て前
後、左右、上下及び任意軸回りの回転が可能となる。ま
た、このとき印加される力に応じて変形する速度が大き
い場合には、ダンパ８１−８２・８３・８４・８５・８
６の作用によって変形が生じにくくなり、反対に小さい
場合には殆んどばねによる変形のみが生じる。According to the above-described configuration, the movable plate 1 can be translated and rotated in any direction relative to the fixed plate 2. Also, the diameter of the through hole of the movable plate 1 and the support rods 51, 52, 53, 54
The movable range of the movable plate 1 in the lateral displacement direction can be regulated according to the difference in diameter between the movable plate 1 and the movable range of the movable plate 1 in the vertical direction. be. In the initial state where no load is applied to the movable plate 1, the movable plate 1 is moved by the lower springs 21, 22, 23, 2.
4 and upper springs 3X, 32, 33, and 34 are held at balanced points. When the above-mentioned coupling operation is executed here, each spring of the movable plate 1 expands and contracts depending on the direction of the force acting between it and the fixed plate 2, and the movable plate 1 moves back and forth with respect to the fixed plate 2. It is possible to rotate left and right, up and down, and around any axis. In addition, if the deformation speed is high depending on the force applied at this time, the dampers 81-82, 83, 84, 85, 8
6 makes it difficult for deformation to occur; on the other hand, if it is small, almost only deformation occurs due to the spring.
続いて、本発明のコンプライアンス継ぎ手の動作を例示
するため、従来技術の項で例示したロボットによる結合
動作において、固定板２をロボットに固定し、且つ、可
動板１を結合させる一方の物体に固定して他方の物体へ
の結合動作を想定する。このとき、前記２つの物体間に
生じている位置決め誤差は下部ばね２１・２２・２３・
２４及び上部ばね３１・３２・３３・３４が適切に伸縮
することにより吸収され、結合時に生じる無理な力の発
生を避けることができる。また、本発明のコンプライア
ンス継ぎ手をロボットの手首に埋め込んで固定板２をロ
ボット本体に固定し、可動板１にハンドルを固定した場
合、任意の物体について前記特長を有する結合作業を実
現することができる。一方、結合作業を行う物体に可動
板１を固定した場合、固定板２に設けた把手３によって
ロボットハンドによる把持が容易となる。このように、
何れの場合においても可動板１は下部ばね２！・２２・
２３・２４及び上部ばね３１・３２・３３・３４を介し
て上下方向から保持されており、上下左右及び任意の回
転方向に対して生じる印加力に対応することが可能であ
る。 更に、ばねを柔らかく選択した場合には、弱い印
加力にて大きく変形するため、位置の修正が容易となる
。このとき、ロボットが作業対ａｈを持ち上げて組み付
は対象点まで移動させるために生じる加速度の影響によ
り、持ち上げた対象物体は大きく振動するため、物体を
損傷する恐れが生じる。本実施例による構成では大きな
加速度により変形の加速度が大きくなった場合、ダンパ
８１・８２・８３・８４・８５・８６が働いて過度の変
形を防止する。実際の組み付は作業などでは位置ずれを
解消す変形を生じるのみであり、この変形の変化速度は
小さい。従って、ばねの柔らかさとダンパの強さとを適
切に選択することにより、所望の特性を実現することが
可能である。Next, in order to illustrate the operation of the compliance joint of the present invention, in the joining operation by the robot illustrated in the prior art section, the fixed plate 2 is fixed to the robot and the movable plate 1 is fixed to one of the objects to be joined. Assume the operation of connecting the object to the other object. At this time, the positioning error occurring between the two objects is the lower spring 21, 22, 23,
24 and the upper springs 31, 32, 33, and 34 to expand and contract appropriately, this can be absorbed, and it is possible to avoid the generation of unreasonable force that occurs at the time of connection. Further, when the compliance joint of the present invention is embedded in the robot's wrist, the fixed plate 2 is fixed to the robot body, and the handle is fixed to the movable plate 1, it is possible to realize the joining operation having the above-mentioned features for any object. . On the other hand, when the movable plate 1 is fixed to an object to be joined, the grip 3 provided on the fixed plate 2 facilitates gripping by a robot hand. in this way,
In either case, the movable plate 1 is the lower spring 2!・22・
23, 24 and upper springs 31, 32, 33, and 34 from above and below, and can respond to applied forces that occur up, down, left and right, and in any rotational direction. Furthermore, if the spring is selected to be soft, it will deform significantly with a weak applied force, making it easier to correct the position. At this time, the lifted target object vibrates greatly due to the influence of acceleration generated when the robot lifts the workpiece ah and moves it to the target point for assembly, which may cause damage to the target object. In the configuration according to this embodiment, when the acceleration of deformation increases due to large acceleration, the dampers 81, 82, 83, 84, 85, and 86 act to prevent excessive deformation. During actual assembly, only deformation occurs to eliminate positional deviation, and the rate of change of this deformation is slow. Therefore, desired characteristics can be achieved by appropriately selecting the softness of the spring and the strength of the damper.
なお、本発明の実施例については、４組の支持棒及びば
ねを用いる構成により説明を行ったが、３組以上任意の
組の支持棒及びばねを用いる構成を適用することは容易
であり、且つ、有効であることは明白である。In addition, although the embodiment of the present invention has been described using a configuration using four sets of support rods and springs, it is easy to apply a configuration using three or more arbitrary pairs of support rods and springs. Moreover, it is clear that it is effective.
以上説明したように本発明のコンプライアンス継ぎ手に
よれば、簡単な構成により２つの独立した物体間に生じ
ている任意の軸方向の位置決め誤差の影響を吸収し、単
純な動作で結合動作を実現することが可能である。また
、可動範囲を機械的に制約することも可能なため、過大
な変形を生じる恐れが無いという大きな利点があり、且
つ、可動範囲の変更も容易に行うことができる。更に、
変形に必要な力の変更はばねの柔らかさの変更により、
これも容易に調整可能であるという利点がある。しかも
、可動板をばねにより上下方向から保持する構成となっ
ているため、任意の重力方向において使用可能である。As explained above, according to the compliance joint of the present invention, the effect of any axial positioning error occurring between two independent objects can be absorbed with a simple configuration, and the coupling operation can be realized with a simple operation. Is possible. Further, since it is possible to mechanically restrict the movable range, there is a great advantage that there is no risk of excessive deformation, and the movable range can be easily changed. Furthermore,
The force required for deformation can be changed by changing the softness of the spring.
This also has the advantage of being easily adjustable. Moreover, since the movable plate is held from above and below by springs, it can be used in any direction of gravity.
すなわち、上下左右何れの方向へ向けても前記特長を利
用可能であるという大きな効果がある。That is, there is a great effect that the above-mentioned features can be utilized whether the device is oriented upward, downward, leftward, or rightward.
また、全方向の変形に対応するダンパにより、位置誤差
修正を容易とするために柔らかいばねを使用する場合に
おいても、物体移動の際に生じる大きな加速度の影響を
除去可能であり、作業物体を保護することができるとい
う効果がある。In addition, with a damper that supports deformation in all directions, even when using soft springs to facilitate position error correction, it is possible to remove the effects of large accelerations that occur when moving objects, and protect the work object. The effect is that it can be done.
上述した本発明のコンプライアンス継ぎ手によれば、従
来の課題を解決したコンプライアンス継ぎ手が得られる
。According to the compliance joint of the present invention described above, a compliance joint that solves the conventional problems can be obtained.
第１図は本発明のコンプライアンス継ぎ手の一実施例を
示す斜視図である。
１・・・可動板、２・・・固定板、３・・・把手、２１
．２２２３、２４・・・下部ばね、３１．３２．３３．
３４・・・上部ばね、４１、４２．４３．４４・・・止
め板、５１．５２．５３．５４・・・支持棒、６１．６
２．６３．６４．７１．７２．７３．７４・・・ばね保
持手段、８１．８２．８３．８４．８５．８６・・・ダ
ンパ。FIG. 1 is a perspective view showing an embodiment of the compliance joint of the present invention. 1... Movable plate, 2... Fixed plate, 3... Handle, 21
．． 2223, 24...lower spring, 31.32.33.
34... Upper spring, 41, 42.43.44... Stopping plate, 51.52.53.54... Support rod, 61.6
2.63.64.71.72.73.74... Spring holding means, 81.82.83.84.85.86... Damper.
Claims (1)
、前記第１の物体に接する固定板と、前記第２の物体に
接する可動板と、前記可動板を貫通し、且つ、一端がそ
れぞれ前記固定板に垂直に固定される複数の支持棒と、
前記支持棒の他端に設置した止め板と、前記支持棒に装
着され、且つ、前記固定板と前記可動板との間に設置さ
れる下部ばねと、前記支持棒に装着され、且つ、前記可
動板と前記止め板との間に設置される上部ばねと、前記
固定板と前記可動板とを結合する複数のダンパと、前記
支持棒を貫通すると共に、前記固定板と前記下部ばねと
の間及び前記可動板と前記上部ばねとの間に設置され、
且つ、前記下部ばね及び前記上部ばねのずれを防止する
ばね保持手段とを備えたことを特徴とするコンプライア
ンス継ぎ手。A joint that connects two independent objects to each other includes a fixed plate in contact with the first object, a movable plate in contact with the second object, and a joint that passes through the movable plate and has one end connected to the fixed plate. a plurality of support rods fixed perpendicularly to the
a stop plate installed at the other end of the support rod; a lower spring installed on the support rod and between the fixed plate and the movable plate; an upper spring installed between the movable plate and the stop plate; a plurality of dampers that connect the fixed plate and the movable plate; and a plurality of dampers that pass through the support rod and connect the fixed plate and the lower spring. and between the movable plate and the upper spring,
A compliance joint characterized by further comprising a spring holding means for preventing displacement of the lower spring and the upper spring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP20060589A JPH0366582A (en) | 1989-08-01 | 1989-08-01 | Compliance joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP20060589A JPH0366582A (en) | 1989-08-01 | 1989-08-01 | Compliance joint |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0366582A true JPH0366582A (en) | 1991-03-22 |
Family
ID=16427148
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP20060589A Pending JPH0366582A (en) | 1989-08-01 | 1989-08-01 | Compliance joint |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0366582A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2012139774A (en) * | 2010-12-28 | 2012-07-26 | Kawasaki Heavy Ind Ltd | Compliance device and structure of robot arm with the same |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS49101974A (en) * | 1973-01-31 | 1974-09-26 | ||
| JPS603010A (en) * | 1983-06-20 | 1985-01-09 | Hitachi Ltd | Control system of robot |
| JPS6150792A (en) * | 1984-08-13 | 1986-03-13 | 株式会社日立製作所 | Floating device of hand for robot |
-
1989
- 1989-08-01 JP JP20060589A patent/JPH0366582A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS49101974A (en) * | 1973-01-31 | 1974-09-26 | ||
| JPS603010A (en) * | 1983-06-20 | 1985-01-09 | Hitachi Ltd | Control system of robot |
| JPS6150792A (en) * | 1984-08-13 | 1986-03-13 | 株式会社日立製作所 | Floating device of hand for robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2012139774A (en) * | 2010-12-28 | 2012-07-26 | Kawasaki Heavy Ind Ltd | Compliance device and structure of robot arm with the same |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP3524056B2 (en) | 6 DOF parallel mechanism for precision work | |
| US12083672B2 (en) | Gravity compensation assembly and robot waist structure including same | |
| JPS62176785A (en) | Remote center compliance device | |
| WO2003037573A3 (en) | Robotic manipulator | |
| JPH10509788A (en) | Improvement of movable mechanism structure | |
| JP2001214924A (en) | Spherical joint for connecting multi-axis links of three or more axes at one point | |
| JPH06297378A (en) | Compliance mechanism | |
| JPH0366582A (en) | Compliance joint | |
| JP3169484B2 (en) | Parallel link manipulator | |
| JPH0366583A (en) | Compliance joint | |
| CN110909479B (en) | Compliance calculation method of continuous robot | |
| JP2780817B2 (en) | Precision stage equipment | |
| JPH10109284A (en) | Micromanipulator and its driving method | |
| JPH05131389A (en) | Object handling device | |
| GB2086980A (en) | Universal joints | |
| JPS59214590A (en) | Branch plural arm type multipler freedom-degree manipulator robot | |
| US4802800A (en) | Passive positioning apparatus | |
| JPH0694008A (en) | Shape variable actuator | |
| JPS637286A (en) | Method of compensating origin of robot | |
| JPH02229931A (en) | Compliance joint | |
| Milutinovic | Universal compliant device based on SCARA concept | |
| JPH0825267A (en) | Tool adapter support device | |
| JPS63105896A (en) | Joint mechanism | |
| JP7117760B2 (en) | 6 DOF joint | |
| CN117325077A (en) | A kind of robot grinding parts changing attitude fixture and grinding method |