ES2247889A1 - Joystick device for remote control and operation of robots and automated machines, has rings joined by six mechanisms, in which each mechanism has articulated bars joined to end of each ring through architectural and spherical articulation - Google Patents
Joystick device for remote control and operation of robots and automated machines, has rings joined by six mechanisms, in which each mechanism has articulated bars joined to end of each ring through architectural and spherical articulationInfo
- Publication number
- ES2247889A1 ES2247889A1 ES200302351A ES200302351A ES2247889A1 ES 2247889 A1 ES2247889 A1 ES 2247889A1 ES 200302351 A ES200302351 A ES 200302351A ES 200302351 A ES200302351 A ES 200302351A ES 2247889 A1 ES2247889 A1 ES 2247889A1
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- Spain
- Prior art keywords
- mechanisms
- joined
- joystick
- bar
- robotic
- 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
- 230000007246 mechanism Effects 0.000 title claims abstract description 26
- 230000005540 biological transmission Effects 0.000 claims abstract description 6
- 230000033001 locomotion Effects 0.000 claims description 12
- 238000005259 measurement Methods 0.000 claims description 2
- 230000000712 assembly Effects 0.000 claims 1
- 238000000429 assembly Methods 0.000 claims 1
- 230000008447 perception Effects 0.000 description 5
- 238000011161 development Methods 0.000 description 4
- 230000018109 developmental process Effects 0.000 description 4
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 2
- 229910052782 aluminium Inorganic materials 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 230000000399 orthopedic effect Effects 0.000 description 1
- 230000035807 sensation Effects 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
- G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
- G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
- G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
- G05G9/04737—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks with six degrees of freedom
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
Description
Dispositivo joystick robótico de arquitectura paralela de 6 grados de libertad con percepción de fuerzas y posición.Architecture robotic joystick device parallel of 6 degrees of freedom with perception of forces and position.
Dispositivos joysticks robóticos paralelos utilizados como maestros en esquemas de teleoperación de robots y mecanismos, o en exploración táctil en entornos virtuales creados por ordenador, que reflejan esfuerzos hacia el operador y forman parte de la interfaz entre el operador y el entorno remoto háptico.Parallel robotic joysticks devices used as teachers in robot teleoperation schemes and mechanisms, or in touch exploration in virtual environments created by computer, which reflect efforts towards the operator and form part of the interface between the operator and the remote environment haptic
La presente invención de un dispositivo tiene como objetivo dar una solución a la interacción mecánica entre el operador y un entorno remoto de actuación. Puede utilizarse tanto con entornos remotos reales como con entornos remotos generados por computador.The present invention of a device has Aim to give a solution to the mechanical interaction between the operator and a remote operating environment. It can be used both with real remote environments as with remote environments generated by computer.
El desarrollo de los mecanismos paralelos se ha incrementado en los últimos años, apareciendo numerosas publicaciones con desarrollos teóricos y prácticos. Las ventajas de este tipo de mecanismos, gran rigidez mecánica, precisión, velocidad y elevada relación entre carga soportada y potencia de los actuadores han dado lugar a numerosas aplicaciones industriales de manipulación de objetos, mecanizado, cirugía ortopédica, etc.The development of parallel mechanisms has increased in recent years, appearing numerous publications with theoretical and practical developments. The advantages of this type of mechanisms, great mechanical rigidity, precision, speed and high relationship between load bearing and power of the actuators have resulted in numerous industrial applications of object manipulation, machining, orthopedic surgery, etc.
Son posibles muchos diseños diferentes de robots paralelos y la literatura científica al respecto es muy rica. Todos tienen en común el bajo costo de sus componentes que en su mayoría son estándar.Many different robot designs are possible Parallel and scientific literature in this regard is very rich. Everybody they have in common the low cost of their components that mostly They are standard.
Uno de los más importantes desarrollos de dispositivos maestros hápticos ha sido el robot PHANTOM de la compañía SensAble Technologies Inc., el cual es un dispositivo de cadena cinemática serial y articulada, que han marcado un hito en aplicaciones complejas como las de telecirugía.One of the most important developments of haptic master devices has been the PHANTOM robot of the company SensAble Technologies Inc., which is a device of serial and articulated kinematic chain, which have marked a milestone in complex applications such as telesurgery.
El primer robot paralelo comercial, el "Gadfly", un manipulador de 6 grados de libertad para el ensamblado de componentes electrónicos, fue diseñado por Marconi. Posteriormente esta compañía diseñó un gran robot híbrido serie-paralelo, el "Tetrabot". Un robot paralelo rápido de 3-4 GDL, el "Delta" ha comenzado recientemente su comercialización por la compañía Demaurex.The first commercial parallel robot, the "Gadfly", a manipulator of 6 degrees of freedom for the Assembly of electronic components, was designed by Marconi. Later this company designed a large hybrid robot parallel-series, the "Tetrabot". A robot Quick parallel of 3-4 GDL, the "Delta" has recently started marketing by the company Demaurex
La utilización de robots paralelos como dispositivos maestros tiene su ejemplo en el 3-Delta de la casa Force Dimension y en los desarrollos de interfaces con cables de las universidades de Tokio, Washington o Nanyang.The use of parallel robots such as master devices has its example in the 3-Delta of the Force Dimension house and in the wired interface developments from the universities of Tokyo, Washington or Nanyang.
La exploración táctil de entornos remotos o mundos virtuales requiere de una interfaz basada en un servomecanismo que le permita al usuario percibir sensaciones de carácter dinámico como movimientos, fuerzas de contacto, inerciales e impulsos, que pueden originarse por ejemplo al teleoperar un mecanismo remoto como un robot manipulador, actividad en la cual se da lugar a distintos tipos de contactos con objetos blandos o duros, a la percepción de texturas y fuerzas, o sensaciones de movimiento e inerciales. Esta percepción es conocida técnicamente como una percepción de carácter "háptico".Touch scanning of remote environments or virtual worlds requires an interface based on a servomechanism that allows the user to perceive feelings of dynamic character such as movements, contact forces, inertial and impulses, which can originate for example when teleoperating a remote mechanism like a manipulative robot, activity in which gives rise to different types of contacts with soft objects or hard, to the perception of textures and forces, or feelings of movement and inertial. This perception is known technically as a perception of "haptic" character.
Debido a la naturaleza de las tareas designadas a dicha interfaz, se requiere que el joystick robótico, sea una interfaz intuitiva en su uso, transparente al usuario a nivel de esfuerzos para que la percepción sea independiente del tipo de mecanismo remoto manipulador que se quiere teleoperar, ya sea este de cadena cinemática serial o paralelo, capaz de reflejar esfuerzos en los seis grados de libertad del espacio y que produzca la mínima fatiga al operador.Due to the nature of the tasks designated to said interface, the robotic joystick is required to be a Intuitive interface in use, transparent to the user at the level of efforts so that perception is independent of the type of remote manipulator mechanism that you want to teleoperate, either this serial or parallel kinematic chain, capable of reflecting efforts in the six degrees of freedom of space and produce the minimum operator fatigue
Una interfaz de escritorio tipo joystick robótico basado en estructura paralela cuya base superior se encuentra fija en el espacio, es una solución a los requisitos anteriores.A robotic joystick desktop interface based on parallel structure whose upper base is fixed In space, it is a solution to the above requirements.
La invención consiste en dos bases planas, de diferente tamaño, unidas por seis conjuntos de mecanismos de barras que unen las dos bases a través de articulaciones esféricas y universales, formando una estructura paralela de seis grados de libertad. Los mecanismos de barras están formados por paralelogramos articulados. La configuración de la invención permite un amplio espacio de trabajo en comparación con otras estructuras paralelas.The invention consists of two flat bases, of different size, joined by six sets of bar mechanisms that join the two bases through spherical joints and universal, forming a parallel structure of six degrees of freedom. The mechanisms of bars are formed by articulated parallelograms. The configuration of the invention allows ample workspace compared to others parallel structures
El joystick robótico de arquitectura paralela, de seis grados de libertad y reflexión de esfuerzos para tareas de teleoperación consiste en dos bases planas (1) y (2), unidas entre sí por seis conjuntos de mecanismos (3). Los mecanismos (3), se unen a la base superior (1) mediante articulaciones universales (16), y a la base inferior mediante articulaciones esféricas (15). Cada mecanismo (3) tiene la estructura de un pantógrafo o paralelogramo articulado.The robotic joystick of parallel architecture, from six degrees of freedom and reflection of efforts for tasks of teleoperation consists of two flat bases (1) and (2), joined between yes for six sets of mechanisms (3). The mechanisms (3), join to the upper base (1) by universal joints (16), and to the lower base by spherical joints (15). Every mechanism (3) has the structure of a pantograph or parallelogram articulate.
Cada mecanismo (3) dispone de un motor rotatorio (8) y un sistema de posicionamiento (18). El motor (8) y su sistema de posicionamiento (18) cumplen el papel de generar en el usuario la sensación de fuerzas, de efectos inerciales, de movimiento y posición, las cuales se causan cuando el usuario manipula con el joystick maestro, un mecanismo remoto, por ejemplo un robot que interacciona con objetos.Each mechanism (3) has a rotary motor (8) and a positioning system (18). The engine (8) and its system positioning (18) fulfill the role of generating in the user the sensation of forces, of inertial effects, of movement and position, which are caused when the user manipulates with the master joystick, a remote mechanism, for example a robot that interact with objects
La transmisión del movimiento rotatorio del motor (8) a la estructura del pantógrafo se realiza a través de una transmisión por cable (19) que se traduce en el movimiento de una polea partida (9) del pantógrafo.Transmission of the rotary motion of the engine (8) to the structure of the pantograph is done through a cable transmission (19) that results in the movement of a split pulley (9) of the pantograph.
En la base inferior (2) se ha colocado un sistema de manipulación (4) que permite al operario trabajar de una manera cómoda con el mecanismo.In the lower base (2) a system has been placed of manipulation (4) that allows the operator to work in a way comfortable with the mechanism.
La electrónica de potencia y las señales de control se encuentran accesibles en la base superior (1) de forma que pueden ser fácilmente conectadas a cualquier computador con una tarjeta de control por computador de ejes.Power electronics and signals control are accessible in the upper base (1) so that can be easily connected to any computer with a Axis computer control card.
El joystick robótico permite la ubicación en la base inferior (2) de un sensor de esfuerzos que permita la lectura de las fuerzas y pares generados por el operador.The robotic joystick allows location on the lower base (2) of a stress sensor that allows reading of the forces and torques generated by the operator.
Los modos de trabajo del joystick robótico permiten al operador introducir al sistema la posición de la base inferior, a través del sistema de posicionamiento (18) y reflejar unos determinados esfuerzos mediante los motores (8), o bien introducir esfuerzos mediante el sensor de esfuerzos adicionado a la base inferior (2) y reflejar la posición en la base inferior a través de los motores (8).Working modes of the robotic joystick allow the operator to introduce the base position to the system bottom, through the positioning system (18) and reflect certain efforts through the motors (8), or introduce forces through the stress sensor added to the lower base (2) and reflect the position in the base lower than through the engines (8).
Figura 1.- Vista en perspectiva del dispositivo háptico de arquitectura paralela.Figure 1.- Perspective view of the device Haptic of parallel architecture.
Figura 2.- Vista inferior.Figure 2.- Bottom view.
Figura 3.- Vista isométrica de detalle de uno de los seis mecanismos paralelos.Figure 3.- Isometric detail view of one of The six parallel mechanisms.
Figura 4.- Vista isométrica explotada de detalle de uno de los seis mecanismos paralelos.Figure 4.- Exploded isometric view of detail of one of the six parallel mechanisms.
Figura 5.- Vista de detalle de la trasmisión de potencia de uno de los seis mecanismos paralelos.Figure 5.- Detail view of the transmission of power of one of the six parallel mechanisms.
El robot en su conjunto es un sistema mecánico formado por partes estructurales mecánicas, articulaciones mecánicas, servo accionamientos de potencia, conexiones eléctricas, tarjetas electrónicas de potencia, sensores y sistemas de control por computador.The robot as a whole is a mechanical system formed by mechanical structural parts, joints mechanical, servo power drives, electrical connections, electronic power cards, sensors and control systems by computer
- 1)one)
- Las bases planas marcadas como (1) y (2), se realizarán con material ligero, como aluminio, con un grosor suficiente para soportar las deformaciones debidas a las fuerzas que entran en juego. Las bases (1) y (2) están unidas a través de seis conjuntos de barras (3), a través de las articulaciones esféricas (15) y universales (16). Cada conjunto de mecanismos (3) es actuado por un motor rotatorio (8), el cual es encargado de reflejar las fuerzas y posiciones hacia o desde el Joystick robótico dándole características hápticas.The flat bases marked as (1) and (2), will be made with material lightweight, like aluminum, thick enough to support the deformations due to the forces that come into play. The bases (1) and (2) are linked through six sets of bars (3), to through spherical (15) and universal (16) joints. Each set of mechanisms (3) is actuated by a rotary motor (8), which is responsible for reflecting the forces and positions to or from the robotic joystick giving features haptics
- 2)2)
- Cada uno de los mecanismos articulados (3), esta formado a su vez por las barras que forman el conjunto del paralelogramo (6) y (7) y la barra articulada (5) unidas por las articulaciones (13) y (14) respectivamente. La barra (7) tiene adosado un motor rotatorio (8) con un sistema de medición de posicionamiento (18) y que lleva acoplada la polea (17) la cual transmite el movimiento del motor a la polea (9) a través de una transmisión de potencia por cable (19). La polea partida (9) está ensamblada, a través de las articulaciones (11) y (12), con las barras (10) y (6) respectivamente, transmitiéndose el movimiento del motor (8) a la barra (6) gracias a las mencionadas articulaciones y la polea partida (9).Every one of the articulated mechanisms (3), is formed in turn by the bars that form the parallelogram set (6) and (7) and the articulated bar (5) joined by the joints (13) and (14) respectively. The bar (7) has a rotary motor (8) attached with a positioning measurement system (18) and that carries coupled the pulley (17) which transmits the motor movement to the pulley (9) through a cable power transmission (19). The split pulley (9) is assembled, through the joints (11) and (12), with bars (10) and (6) respectively, the motor movement (8) being transmitted to the bar (6) thanks to the mentioned joints and the pulley heading (9).
- 3)3)
- El sistema de manipulación (2) consiste en un vástago de aluminio y una esfera de plástico (tipo pomo) (4) ubicados en la base del sistema de manipulación (2).He handling system (2) consists of an aluminum rod and a plastic sphere (knob type) (4) located at the base of the system handling (2).
- 4)4)
- El control de movimiento de cada uno de los mecanismos articulados (3), está caracterizado porque los amplificadores de potencia colocados sobre la base plana (1) y los sistemas de posicionamiento (18) están conectados a una tarjeta multiejes de tiempo real.He motion control of each of the articulated mechanisms (3), is characterized because the power amplifiers placed on the flat base (1) and positioning systems (18) They are connected to a real-time multi-axis card.
Claims (4)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| ES200302351A ES2247889A1 (en) | 2003-10-09 | 2003-10-09 | Joystick device for remote control and operation of robots and automated machines, has rings joined by six mechanisms, in which each mechanism has articulated bars joined to end of each ring through architectural and spherical articulation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| ES200302351A ES2247889A1 (en) | 2003-10-09 | 2003-10-09 | Joystick device for remote control and operation of robots and automated machines, has rings joined by six mechanisms, in which each mechanism has articulated bars joined to end of each ring through architectural and spherical articulation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| ES2247889A1 true ES2247889A1 (en) | 2006-03-01 |
Family
ID=35986415
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| ES200302351A Pending ES2247889A1 (en) | 2003-10-09 | 2003-10-09 | Joystick device for remote control and operation of robots and automated machines, has rings joined by six mechanisms, in which each mechanism has articulated bars joined to end of each ring through architectural and spherical articulation |
Country Status (1)
| Country | Link |
|---|---|
| ES (1) | ES2247889A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024056183A1 (en) * | 2022-09-16 | 2024-03-21 | Force Dimension | Adjustable mechanical motion range limitation apparatus |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4216467A (en) * | 1977-12-22 | 1980-08-05 | Westinghouse Electric Corp. | Hand controller |
| WO1995004959A1 (en) * | 1993-08-10 | 1995-02-16 | Honeywell Inc. | Second generation six-degree-of-freedom virtual pivot hand controller |
| US5850759A (en) * | 1995-12-29 | 1998-12-22 | Daewoo Electronics Co., Ltd. | Force feed back manipulator with six degrees of freedom |
| JP2000181618A (en) * | 1998-12-14 | 2000-06-30 | Mitsubishi Precision Co Ltd | Tactile interface device with four-shaft force feedback |
| FR2832345A1 (en) * | 2001-11-19 | 2003-05-23 | Commissariat Energie Atomique | Robot articulated joint with cable reduction drive has pair of pulleys mounted on support with pulley mounted on arm and connected by cable to motor |
| WO2003062939A1 (en) * | 2002-01-22 | 2003-07-31 | Commissariat A L'energie Atomique | Control unit with three parallel branches |
-
2003
- 2003-10-09 ES ES200302351A patent/ES2247889A1/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4216467A (en) * | 1977-12-22 | 1980-08-05 | Westinghouse Electric Corp. | Hand controller |
| WO1995004959A1 (en) * | 1993-08-10 | 1995-02-16 | Honeywell Inc. | Second generation six-degree-of-freedom virtual pivot hand controller |
| US5850759A (en) * | 1995-12-29 | 1998-12-22 | Daewoo Electronics Co., Ltd. | Force feed back manipulator with six degrees of freedom |
| JP2000181618A (en) * | 1998-12-14 | 2000-06-30 | Mitsubishi Precision Co Ltd | Tactile interface device with four-shaft force feedback |
| FR2832345A1 (en) * | 2001-11-19 | 2003-05-23 | Commissariat Energie Atomique | Robot articulated joint with cable reduction drive has pair of pulleys mounted on support with pulley mounted on arm and connected by cable to motor |
| WO2003062939A1 (en) * | 2002-01-22 | 2003-07-31 | Commissariat A L'energie Atomique | Control unit with three parallel branches |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024056183A1 (en) * | 2022-09-16 | 2024-03-21 | Force Dimension | Adjustable mechanical motion range limitation apparatus |
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