WO1992018293A1 - Bras de robot articule a sept degres de liberte de mouvement - Google Patents

Bras de robot articule a sept degres de liberte de mouvement Download PDF

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Publication number
WO1992018293A1
WO1992018293A1 PCT/JP1992/000484 JP9200484W WO9218293A1 WO 1992018293 A1 WO1992018293 A1 WO 1992018293A1 JP 9200484 W JP9200484 W JP 9200484W WO 9218293 A1 WO9218293 A1 WO 9218293A1
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WO
WIPO (PCT)
Prior art keywords
shoulder
wrist
joint
joints
freedom
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.)
Ceased
Application number
PCT/JP1992/000484
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English (en)
Japanese (ja)
Inventor
Nobutoshi Torii
Ryo Nihei
Katsutoshi Takizawa
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fanuc Corp
Original Assignee
Fanuc Corp
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Fanuc Corp filed Critical Fanuc Corp
Publication of WO1992018293A1 publication Critical patent/WO1992018293A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/06—Program-controlled manipulators characterised by multi-articulated arms

Definitions

  • the present invention relates to an articulated manipulator, and in particular, to improve the operability of the operating point of an end effector mounted on the tip of the manipulator. 7 Freedom joint type manipulator
  • the operating point of the end-mounted unit installed at the cutting edge of an industrial manipulator or sigma-port operation mechanism can be set at any position in a three-dimensional space.
  • the freedom of operation of the manifold or ⁇ -port is 6 degrees of freedom as a necessary and sufficient condition, and the degree of freedom of operation less than 6 degrees of freedom is acceptable.
  • the end effector provided at the tip is positioned at a certain position and posture in space.
  • the posture of the motion mechanism that is, the posture of the arm mechanism
  • the number of general articulated industrial robots and manifolds is eight. Degree. Therefore, in the 6-DOF manipulator port, the end effector is placed in some places.
  • the posture of the arm mechanism must be selected from one of the finite number of possible postures, and therefore the arm mechanism is limited.
  • the interference with the surroundings is completely eliminated in advance, the work floor area when using the manipulator robot becomes excessive, and the work floor area becomes large. There is a difficulty that makes it difficult to introduce a ⁇ -bot / manipulator by effective use.
  • the arm mechanism of the robot with the robot and the ⁇ In contrast to the human arm, the latter has the ability and dexterity to perform more complex movements than the industrial manipulators, and the wrist via the shoulder connected to the human torso It has been clarified that the arm part including the arm has seven degrees of freedom, and a manipulator device with seven degrees of freedom has already been proposed.
  • the joint to make the link element perform a rotational movement close to the "twisting" or “twisting” movement as an effect of the rotation. It can be defined and is generally a symbol that is displayed between the first link element, the joint R, and the second link element, as shown in Figure 10A.
  • the pivoting joint of the latter is the tip of the first link element.
  • the second link element connected to the end of the joint provided in the joint described above draws an arc with the center axis or the longitudinal axis of the second link element as a radius in the joint.
  • the joint that allows the leading end of the second link element to occupy various positions on the circular arc locus as an effect of the turn can be defined as a turning joint.
  • the first link element, Section P, the second link element is displayed as shown in Figure 10B.
  • the configuration of the seven-degree-of-freedom manipulator shown in Fig. 9 described above is based on a master-slave system that is assumed to be operated by humans. Since it is intended to be a diplator, it has realized a mechanism that mimics the function of a human arm as much as possible, mainly for the purpose of reducing discomfort when maneuvering by a human. Therefore, it is not a 7-degree-of-freedom manipulator of the teaching-to-play back method widely used in industrial applications, and it is generally used for teaching-to-play.
  • the 7-degree-of-freedom manipulator of the block method has been improved in that the operation control has become complicated with the increase in the degree of freedom of operation, there is still an improvement on the shoulder. Since the movement mechanism from the part to the upper arm is complicated and the upper arm part has a rotary joint, it has inevitably the problem that the weight of the entire arm is large.
  • the 7-degree-of-freedom manipulator robot of the teaching loopback system is equipped with the arm mechanism joints that operate independently during the teaching process and is mounted at the forefront. It is necessary to be able to execute the axis-independent operation type teaching that makes the end effector reach the target position and posture.
  • an arm mechanism is required in order to precisely control the position and attitude of the end effector to accurately perform the desired manipulator operation. If the same position and posture of the end effector can be realized even in a posture in which the elbow position is changed, the arm mechanism and surrounding devices may cause interference in a three-dimensional space.
  • the end position of the end effector should be the same. This is an indispensable requirement, for example, because it can be positioned in any position or posture. Therefore, a configuration that enables teaching of the axis-independent operation type is indispensable.
  • Another object of the present invention is to realize a dexterous and complicated movement like a human arm, a relatively simple structure, and a weight of an arm (upper arm + forearm). It does not provide a 7-degree-of-freedom articulated manipulator that can avoid an increase.
  • Still another object of the present invention is to avoid the complication of the control method and to independently operate each rotation and turning joint of the arm mechanism to set a desired working position and posture to the end effector. It does not provide a 7-degree-of-freedom articulated manipulator with a teachable configuration.
  • the present invention provides a 7-degree-of-freedom articulated type including a shoulder supported by a base, an upper arm, an elbow, a forearm, and a wrist connected to the shoulder.
  • a 7-degree-of-freedom articulated type including a shoulder supported by a base, an upper arm, an elbow, a forearm, and a wrist connected to the shoulder.
  • the shoulder includes three shoulder link elements between the base and the upper arm, and three shoulder joints coupled to tips of the shoulder link elements.
  • At least one of the three shoulder link elements of the shoulder! The link element is formed into a crank-shaped link element, so that the three shoulder joints connect their joint lines to the upper arm.
  • Another object of the present invention is to provide a seven-degree-of-freedom articulated manipulator provided in an arrangement intersecting at one point of the present invention. A 7-degree articulated manipulator with upper arm, elbow, forearm, and wrist connected to
  • the shoulder includes three shoulder link elements between the base and the upper arm, and three shoulder joints coupled to tips of the shoulder link elements,
  • An elbow joint for connecting an upper arm link element forming the upper arm and a forearm link element forming the forearm on the elbow, wherein the wrist is connected to a tip of the forearm link element
  • At least one link element in the three shoulder I) link elements of the shoulder is formed into a crank-shaped link element, so that the three shoulder joints A 7-degree-of-freedom articulated manipulator, which is provided at a point intersecting at one point on the axis of the shoulder joint provided at the tip of the shoulder link element connecting the joint axis to the base. It offers overnight.
  • the three wrist joints also have a configuration in which the three axes intersect at one point on the axis of the one joint.
  • Fig. 1 shows the basic configuration and arrangement of the link elements and joints from the shoulders to the wrists of the seven-degree-of-freedom articulated manipulator according to the present invention.
  • FIG. 2 is a perspective view showing the configuration of the manifold shown in FIG. 1 in three dimensions.
  • FIG. 3 shows a specific configuration of the shoulder of the manipulator having seven degrees of freedom according to the present invention shown in FIGS. 1 and 2 and having a driving means in each joint.
  • Fig. 4 shows that the manipulator shown in Fig. 1 can be operated in an axis-independent manner so that the position of the elbow can be changed while one point on the wrist is immobile. Therefore, a perspective view illustrating that the teaching of the axis independent operation type can be executed,
  • FIG. 5A is a mechanical diagram similar to FIG. 1 showing a modification of the mechanism of the manifold having seven degrees of freedom shown in FIG. 1;
  • FIG. 5B is a mechanism diagram similar to FIG. 1 showing another modified example of the mechanism of the manifold having the seven degrees of freedom shown in FIG. 1;
  • FIG. 5C is a mechanism diagram similar to FIG. 1 showing yet another modification of the mechanism of the manipulator having seven degrees of freedom shown in FIG. 1, and FIG. The 7-operation manipulator shown in Fig. 1 has a degree of freedom.
  • FIG. 6A is a mechanical diagram similar to FIG. 1 showing another embodiment of the present invention.
  • FIG. 6B is a mechanical diagram of a modification of FIG. 6A
  • FIG. 6C is a mechanical diagram of another modification of FIG. 6A.
  • FIG.6D is a mechanical diagram of still another modification of FIG.6A.
  • FIG. 6E is a mechanical diagram of still another modification of FIG. 6A.
  • FIG.6F is a mechanical diagram of still another modification of FIG.6A.
  • FIG. 7 is a perspective view to assist in explaining that the axis-independent operation type teaching can be performed in the manifold shown in FIG. 4, and in particular, the intersection of the joints of the wrists is fixed.
  • Explanatory diagram showing the locus of the movement of the elbow when fixed
  • FIG. 8 is a perspective view which assists in explaining that the axis-independent operation type teaching in the manifold shown in FIG. 4 can be executed, and the intersection of the wrist joints is not moved.
  • Fig. 9 is a mechanical diagram showing the configuration of an articulated manipulator having seven degrees of freedom according to the prior art.
  • Figure 1 OA is an explanatory diagram showing the display method of the rotary joint of the manifold.
  • FIG. 10B is an explanatory view showing a display method of the turning joint of the manifold.
  • FIG. 1 The freedom articulated manipulator is supported by the fixed base 12
  • the arm mechanism 10 is provided with a shoulder 14, an upper arm 16, an elbow 18, a forearm 20, and a wrist 22.
  • the arm mechanism 10 composed of each part is provided with seven joints composed of the rotating joint R or the turning joint P.
  • the shoulder 14 is directly supported on the fixed base 12 by the first shoulder link element 14 a, the first shoulder joint R 1, and the second shoulder link element 14 b , A second shoulder joint R 2, a third shoulder link element 14 c:, and a third shoulder joint P 3.
  • the second shoulder link element 14b is disposed between the first and second shoulder joints Rl and R2 as a crank-shaped link element.
  • the three shoulder joints R l, R 2, and P 3 of the shoulder portion 14 have motion axes al and a 2. At the same time, they intersect at a point 0 s on the motion axis a 3 of the third shoulder joint P 3.
  • the three operation axes form a Cartesian coordinate axis with the above-mentioned point ⁇ s as the origin, control calculations for three rotations or turning operations of these three operation axes al to a3 are simplified. You.
  • An upper arm 16 and a forearm 20 pivotally connected to the third shoulder joint P 3 and pivotable about the operation axis a 3 are provided on the elbow 18. They are pivotally connected to one another via. That is, when a relative turning motion is performed between the upper arm 16 and the forearm 20 around the motion axis a 4 of the elbow joint P 4 of the elbow 18, the upper arm 16 and the forearm are rotated. The angle between the sections 20 is controlled to be wide and narrow.
  • the wrist 22 includes a first wrist joint R5 and a first wrist link element 2 provided at a joint with the tip of the forearm 20. 2 a, a second wrist joint P 6, a second wrist link element 22, a third wrist joint R 7, a third wrist link element 22 c
  • the wrist link element 22c of this forms the mounting end of an end effector, not shown.
  • the operation axes a 5 -a 7 of the first to third wrist joints R 5, P 6, R 7 are, in this example, the operation axes of the second wrist joint P 6. It has a configuration where it crosses at one point O w on a 6.
  • the configuration in which the operating axes a5 to a7 of the three joints R5, P6, and R7 intersect at one point makes it possible to rotate the three axes around the one point Ow as a reference point. Since the rotation and the turning motion can be defined, the calculation of the motion control of the wrist 22 does not become complicated. It should be noted that the motion axis a5 and the motion axis a4 of the joint P4 of the elbow 18 intersect on the same motion axis a4.
  • the arm mechanism 10 has the freedom of turning or rotating in the seven orchids Rl to R7, and the arm mechanism 10 has three degrees of freedom in the shoulder part 14 and the wrist part 22 respectively. Since each of the two orchids has a configuration that intersects at one point ⁇ s and Ow, the function of the arm mechanism 10 can exhibit a motion function similar to the function of the arm from the human shoulder to the wrist Therefore, the redundancy in the degree of freedom (redundancy) is increased as compared with the conventional arm mechanism of the five or six degrees of freedom manipulator robot.
  • the end effector may be bypassed around an obstacle or the back of the obstacle.
  • FIG. 3 shows a specific configuration in the case where a driving source is provided.
  • the drive source of the first shoulder joint R1 is moving, and is formed by the drive motor Ml with the reduction mechanism with the rotation axis a1 as the center of rotation.
  • Motor M1 itself forms the first shoulder joint, and the stationary outer housing of motor M1 forms an element equivalent to first shoulder link element 14a.
  • the output shaft (not shown) of the drive motor Ml and a crank-shaped link element 34 having an L-shaped structure coupled to the output shaft are formed by a second shoulder link.
  • a drive motor M 2 with a speed reducer which forms the second shoulder joint R 2 and drives rotation about the axis a 2 times, is connected to the above-mentioned crank type link element 34.
  • the output shaft 36 of the second drive motor M2 forms a third link element 14c at the shoulder 14 and this third link element 14c c
  • the output shaft 36 of the second drive motor M2 is connected to the drive motor M3 with a speed reducer forming a turning drive source about the axis a3 around the third shoulder P3. It is connected to the outer housing via bracket 38.
  • T has a configuration in which a rod-shaped member 42 forming an upper arm 16 is coupled to a cylindrical element 40 directly connected to an output shaft of a driving motor ⁇ 3 forming a third shoulder joint ⁇ 3. ing.
  • the movement of the three shoulder joints R 1 to P 3 in the shoulder portion 14 is also described. Since the axes al to a3 are provided with the crank-shaped link elements 34 and the brackets 38, the two orthogonal points of the operating axis are the third shoulder P3 of the third shoulder joint P3. The configuration that intersects at one point O s on the motion axis ( ⁇ s: the intersection of the motion axes of the three shoulder joints) is realized.
  • FIG. 4 shows the arm mechanism 10 of the 7-degree-of-freedom orchid-shaped manipulator according to the embodiment of the present invention shown in FIG. And three joints Rl, R2, and P3 and R5, P6, and R7, respectively, and one elbow 18 with one orchid P4.
  • the elbow joint 18 is maintained while maintaining the intersection Ow (Ow: the intersection of the operation axes of the three joints of the wrist 22) at the intersection of the operation axes a5 to a7 of the wrist 22. It explains that it is possible to displace P 4 to a different position. That is, in FIG.
  • a 3 moves to a 3 *, and the joint P 4 having the point ⁇ e of the elbow 18 is displaced to the position shown by the solid line. That is, point 0 e moves to point 0 e ′. From this result, the point O w of the wrist 22 also moves to the point 0 w ′, and then the first and third shoulder joints of the shoulder 14 are moved.
  • R l and P 3 By driving the rotation and turning in R l and P 3, it is possible to return the point ⁇ w ′ of the wrist 22 to the position of the point 0 w again, that is, the wrist 22 It can be understood that the point O e of the elbow 18 can take two different positions while the point ⁇ w of the elbow 18 is kept immovable.
  • FIG. 7 the figure shows the locus of the movement of the elbow 18 when the point ⁇ w of the wrist 22 is fixed at a fixed position.
  • the point O e of the elbow 18 indicates that any position on the trajectory circle C e can be taken if the actual movable angle range in each joint is not considered.
  • the distance between the point O s at the shoulder 14 and the point O e at the elbow 18 is L l, and the distance between the point O e at the elbow 18 and the point O w at the wrist 22.
  • the point O e is the distance from the point O s to L 1 and the distance from the point 0 w Is the point of L 2, so the position of the point ⁇ e of the elbow 18 is a sphere of radius L 1 centered on the shoulder point ⁇ s and the radius L 2 centered on the point O w of the wrist 22.
  • the circumference C e which is the intersection of the spheres.
  • the manipulator according to the present embodiment is provided with three independent joints on the shoulder 14, so that the elbow point ⁇ e is defined by the circumference C.
  • the elbow point ⁇ e is defined by the circumference C.
  • the point of the elbow 18 at any position on the circumference C e perpendicular to the line connecting the points ⁇ s and ⁇ w with the point 0 w of the wrist 22 kept in a fixed position O e can be moved.
  • the conventional six degrees of freedom Because a flatter or an industrial robot has only two joints on the shoulder, positioning the elbow will unambiguously determine the direction of the axis of motion of the elbow joint and the wrist.
  • the disadvantage is that the elbow point cannot be moved with the center point fixed.
  • the point w of the wrist 22 is kept at a fixed position, and the posture different from the point 8 e of the elbow 18 is taught. This will be briefly described below.
  • the elbow 18 when the elbow 18 is moved with the wrist fixed at a fixed position, the point O s of the shoulder 14 and the point O w of the wrist 22 are obtained even if the position of the elbow 18 changes. Since the distance between them, that is, the distance (O s —O w) is unchanged, the joint angle of the joint P 4 of the elbow 18 does not change during this movement. Also, since the three joints R 5, P 6, and R 7 of the wrist 22 do not contribute to the change in the position of the point O w, the elbow 18 is moved with the same point O w fixed at a fixed position. This operation can be realized by changing the joint angles of the three joints R l, R 2, and P 3 of the summer part 14.
  • each motion axis is moved in the order of R 2 ⁇ P 3 ⁇ R 1 at the joint of the shoulder 14, and the point 0 w of the wrist 22 is the same.
  • the procedure for teaching the ⁇ bot a posture in which the position of the point 0e of the elbow 18 is different will be described.
  • the order of moving the three joints R 1, R 2, ⁇ 3 of the shoulder 14 to change the position of the elbow without moving the position of the hand is as follows: R 2 ⁇ ⁇ 3 ⁇ R 1 Not limited, but in any order.
  • the portions (the upper arm 16, the forearm 20, and the wrist 22) beyond the shoulder 14 are moved along the axis of the movement axis a 2.
  • the wrist point moves from O w to 0 w '.
  • the point O w of the wrist 22 moves on the arc C 2 on the spherical surface S described above.
  • the third section P 3 of the shoulder 14 The direction of the dynamic axis a 3 changes to the direction of the axis a 3 ′.
  • the point of the wrist portion 22 is displaced about an arc C 3 on the spherical surface S.
  • the arc C 3 is a line of intersection of the spherical surface S having the radius O s —O w and centering on the point O s and passing through the point s s perpendicular to the operating axis a 3 ′.
  • the third joint P 3 of the shoulder 14 is moved by an appropriate angle so that the point of the wrist 22 becomes the point O w "in FIG. 4.
  • the point O w" is the arc C 3 and a point whose length measured from the fixed base 12 along the direction of the movement axis a1 is the same as the original point w.
  • FIG. 8 is a diagram showing the movement of the intersection of the joints of the wrist when the three joints R l, R 2, and P 3 of the shoulder portion 14 are moved in the above-mentioned trial.
  • the three shoulder joints R of the shoulders 14 are formed.
  • FIGS. 5A to 5E show modified embodiments of the articulated manipulator having seven degrees of freedom according to the present invention, which are different from the mechanism of the embodiment shown in FIG. is there. That is, even in the modified examples from FIG. 5A to FIG. 5E, the configuration of the shoulder portion 14 with respect to the fixed base portion 12 is completely the same as the configuration of FIG. However, in the embodiment shown in FIG.
  • the wrist 22 forms the first wrist joint as the swivel joint P 5, and the second and third wrist joints form the rotary joints R 6 and R 6. It is formed in Fig. 7.
  • the second wrist link element 22 b of the wrist part 14 is formed as a crank-shaped link element. In this case, the movement axes a5 to a7 of the wrist 22 intersect at one point on the movement axis a5 of the first wrist joint P5.
  • the configuration of the wrist 22 is different, and the first and second wrist joints are formed as rotating joints R5 and R6.
  • the wrist joint of No. 3 was formed as a swivel joint P7.
  • the first wrist link element 22a forms a crank-shaped link element.
  • the elbow 18 is formed by the rotating joint R 4, and the joint configuration of the wrist 14 is such that the first and third wrist segments are formed by the rotating joints R 5 and R 7, and the second The wrist joint is formed by the swivel joint P6.
  • the upper arm 16 and the forearm 20 form a crank-shaped link element.
  • the operation axes a5 to a7 of the joints of the wrist 22 have a configuration in which they intersect at one point (on the operation axis of the second joint P6).
  • the joint of the elbow 18 is the same as the embodiment of FIG. 5C described above, but the configuration of the wrist 22 is This is an example in which the configuration in FIG. 5A is the same as the configuration in FIG. 5B.
  • Each of these modified embodiments also has the same operation and impeachment as the articulated manipulator having seven degrees of freedom of operation according to the embodiment shown in FIG. Needless to say.
  • FIGS. 6A to 6F show another embodiment of the arm mechanism 10 of the seven-movement articulated manipulator according to the present invention.
  • the third shoulder link element 14c is formed as a crank type link element at the shoulder portion 14.
  • the first shoulder joint is formed by the swivel joint P1
  • the second and third shoulder joints are formed by the rotary joints R2 and R3.
  • the axis of motion al to a3 of each of these three shoulder joints is the first shoulder joint! This is an example in which they intersect at one point on the operation axis 31.
  • the configuration of the upper arm, elbow, forearm, wrist, etc. from the third shoulder joint R3 to the distal end is the same as that of the manipulator of Fig. 1 It has the following configuration.
  • the configuration beyond the upper arm in each of the modified examples of FIGS. 6B to 6F corresponds to each of the configurations shown in FIGS. 5A to 5E described above.
  • the seven degrees of freedom of movement also have three joints on the shoulder 14 and one joint on the elbow 18 and the wrist 22 It cannot be overemphasized that the same operation and result as those of the embodiment shown in FIGS. 1 and 5 can be basically obtained in that three joints are provided.
  • the orchid-shaped manipulator having seven degrees of freedom is directly connected to the fixed base and supported. 1'9 Formed as an arm mechanism with a held shoulder, upper arm, elbow, and forearm connected sequentially to this shoulder, with three joints on the shoulder.
  • the joint has one joint at the elbow and three joints at the wrist, and at least the three joints at the shoulder and wrist must have at least the movement axis of the former shoulder.
  • the motion axes of both the shoulder and the wrist intersect at a single point, so the control of the motion mechanism using the intersection as the reference point It is possible to simplify, and because of the 7 degrees of freedom configuration, the end effector mounted on the wrist can be moved to a predetermined position and posture by avoiding obstacles on the way.
  • the position of the elbow can be changed to 2 or more, so if an obstacle is found on the way during the teaching process, only the elbow is displaced and worn on the wrist.
  • the end effector also has the advantage that it can perform the same manipulator work. This means that the position of the end effector at the tip of the wrist can be determined using the four joints provided in the summer and elbow parts, and the position of the end effector It is also possible to change the posture only at the same position using three joints provided on the wrist, and therefore, the position control and the posture control of the end effector are separated. Since the end effector can be controlled to a desired position and posture by independently controlling each joint, the operator can easily operate the end effector. By grasping it, it is possible to achieve appropriate control.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

L'invention se rapporte à un bras de robot articulé ayant sept de grés de liberté de mouvement, qui comprend une partie épaule (14) placée en support sur une partie proximale (12), une partie de bras supérieure (16) couplée à la partie épaule, une partie coude (18), une partie avant-bras (20), et une partie poignet (22). La partie épaule (14) comporte trois articulations d'épaule (R1, R2, P3 ou P1, R2, R3), et la partie poignet (22) comporte trois articulations de poignet (R5, P6, R7; P5, R6, R7; R5, R6, P7). La partie épaule est constituée par trois éléments de liaison d'épaule dont au moins un élément de liaison en forme de manivelle et la partie poignet (22) est également constituée par trois élements de liaison. Les axes (a1 à a3) de mouvement des articulations au moins de la partie épaule (14) se coupent en un point et les axes (a5 à a7) de mouvement des articulations de la partie poignet (22) se coupent de préférence également en un point.
PCT/JP1992/000484 1991-04-16 1992-04-16 Bras de robot articule a sept degres de liberte de mouvement Ceased WO1992018293A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP8416791A JPH04315589A (ja) 1991-04-16 1991-04-16 ７自由度関節形マニプレータ
JP3/84167 1991-04-16

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WO1992018293A1 true WO1992018293A1 (fr) 1992-10-29

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1800808A4 (fr) * 2004-10-04 2007-10-17 Honda Motor Co Ltd Appareil de traitement et de transfert
WO2020187915A1 (fr) * 2019-03-18 2020-09-24 Macgregor Norway As Bras robotique multiaxial
WO2026051064A1 (fr) * 2024-09-09 2026-03-12 Abb Schweiz Ag Robot industriel à topologie améliorée

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3908366B2 (ja) 1997-12-24 2007-04-25 本田技研工業株式会社 人型作業ロボットの腕体構造
JP4133843B2 (ja) * 2004-01-14 2008-08-13 川崎重工業株式会社 産業用ロボット
JP5221017B2 (ja) * 2005-09-27 2013-06-26 株式会社安川電機 搬送システム
JP5090871B2 (ja) * 2007-11-27 2012-12-05 株式会社安川電機 ロボット装置
DE102019218133A1 (de) * 2019-11-25 2021-05-27 Kuka Deutschland Gmbh Greifeinrichtung und Verfahren zum Betreiben einer solchen Greifeinrichtung

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS59134688A (ja) * 1983-01-06 1984-08-02 インテレデツクス・インコ−ポレ−テツド ロボツト・ア−ム
JPS61192487A (ja) * 1985-02-19 1986-08-27 株式会社神戸製鋼所 多関節型ロボツト

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS59134688A (ja) * 1983-01-06 1984-08-02 インテレデツクス・インコ−ポレ−テツド ロボツト・ア−ム
JPS61192487A (ja) * 1985-02-19 1986-08-27 株式会社神戸製鋼所 多関節型ロボツト

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1800808A4 (fr) * 2004-10-04 2007-10-17 Honda Motor Co Ltd Appareil de traitement et de transfert
WO2020187915A1 (fr) * 2019-03-18 2020-09-24 Macgregor Norway As Bras robotique multiaxial
WO2026051064A1 (fr) * 2024-09-09 2026-03-12 Abb Schweiz Ag Robot industriel à topologie améliorée

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JPH04315589A (ja) 1992-11-06

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