FR2910833A1 - Tight cable structure for e.g. haptic interface, has displacement unit displacing mobile member with respect to platform that is suspended inside framework by suspension cables, where unit is distinct to winders/unwinders of cables - Google Patents

Abstract

The structure has a rigid framework, and an element i.e. wrist (2), interacting with an exterior environment and including a platform (20) and a mobile member e.g. handle (16), that pivots about a rotational axis relative to the platform. The platform is suspended inside the framework by suspension cables (6.1-6.8) linked to winders/unwinders, where the structure is fixed to the framework. The platform is moved by winding and unwinding the cables on the winders/unwinders. A displacement unit displaces the mobile member with respect to the platform and is distinct to the winders/unwinders.

Description

STRUCTURE WITH TENSILE CABLES FOR HAPTIC INTERFACE OR ROBOT, WIDE ANGLE

OF MANEUVER

  TECHNICAL FIELD AND PRIOR ART The present invention relates to haptic interfaces or large-field orientation robots comprising redundant tensile cable structures, which can be used in an immersive environment, in reeducation, etc. Most robots and haptic interfaces use an articulated mechanical chain comprising a plurality of movable bodies interconnected by articulations connecting a fixed base to the effector, such as manufacturing robots, or gripper grasped by the user, such as a force feedback interface . This polyarticulated chain makes it possible to control the position and / or the orientation of the terminal member relative to the base.

  We can distinguish open kinematic chain robots (series architecture) and closed-chain robots (parallel architecture). A serial robot has n + 1 body of which n moving bodies linked together by n articulations. A parallel robot has b branches each having the structure of a serial robot. In both cases, the setting in motion of the terminal member causes the displacement of many moving bodies. The dynamics is therefore limited. In addition, the segments of the robot represent a significant volume and can hinder the vision of the user. There is also a solution of actuating a handle or clamp with cables stretched directly between the handle or the clamp and motor blocks ensuring the winding and unwinding of the cables. In this case, the moving parts are reduced to the minimum (to the effector and the cables), which makes it possible to obtain good dynamic performances.

  Moreover, the cables being very thin, this type of structure has a very weak visual intrusion. Finally, mechanics is reduced to engine blocks that are very simple. The cost of these robots is reduced.

  This type of structure is for example known from US 5,305,429 and US 2005/0024331. This type of structure, however, has two disadvantages. First of all, since the cables are flexible, you can only pull on them.

  Under these conditions, it is necessary to have at least one motor and a cable more than degrees of freedom (mobility). Thus, the robot called Sacso 7 made by ONERA has seven cables to control the three translations and three rotations of the terminal organ. It must be ensured that no cable is relaxed. It is necessary to use for this purpose a suitable control-command algorithm. The redundancy of operation is used to apply the desired effort on the effector (main function) and to manage the tensions of the cables (secondary function).

  The workspace depends on the position of the motor blocks and the cable attachment points around the handle. To increase it, it is possible to add additional motor blocks and cables. Second, the motors and cables must be evenly distributed around the terminal organ. In the case of the robot called SPIDAR I, which is the haptic cable interface tense most known, the engine blocks are distributed on the tops of a pyramid. This interface consists of four cables that control the forces applied to the handle in all directions (interface with three degrees of freedom in translation).

  The cables are theoretically all concurrent at the point of attachment on the handle and the rotations are free (the handle is in fact a die in which one inserts the finger). The useful working space, i.e. in which forces can be generated in all directions, is limited inside the pyramid formed by the outputs of the motor block cables. Outside this volume, no force can be generated in a direction opposite to the pyramid since it would be necessary to push on at least one cable, which is impossible. There are also interfaces whose motors are not distributed around the handle but in this case the forces can no longer be generated in all directions. For example, the haptic interface called SPIDAR 8 consists of eight effectors and 24 motor blocks. This is intended to allow manipulation with eight fingers. Each effector is connected to only three motors. Therefore, it is impossible to generate forces in all directions of space.

  US 6,630,923 discloses a six degrees of freedom interface, comprising eight motor blocks connected to a movable effector, on which both forces and moments can be applied. In addition, this interface comprises a handle consisting of two mutually movable parts, which generates a controlled capture (or closure) movement. This mobility can be exploited directly in rotation or in translation by using a screw system to transform the relative rotational movement of the two parts of the handle into a translational movement. Moreover, in known cable structures, during large rotations, there is a significant risk that the cables come into contact with each other or with the body of the user. In addition, for large rotations, the effort can be generated in all directions is limited. The useful working space of this type of structure is therefore limited in rotation.

  It is therefore an object of the present invention to provide a haptic interface or a robot effector to obtain greater rotations while maintaining the qualities of tense cable interfaces, whose engine blocks implemented are simple and a limited cost, offering a good dynamic due to the low number of moving parts and having a small visual intrusion. DISCLOSURE OF THE INVENTION The purpose previously stated is achieved, in the case of a haptic interface, by a cable structure comprising a control wrist, which is provided with a handle movable relative to a base of the wrist, so that increases the range of movement possible by adding to the range of movement of the wrist, a range of movement of the handle relative to the base of the wrist. In other words, the tensioned cable interface according to the present invention with a large field of orientation comprises two stages: a stretched cable stage enabling the position and orientation of an on-board wrist to be controlled, and a wrist embedded motorized to control the orientation of a handle forming a force feedback interface or a robot gripper. In the case of a robot effector, the active end is movably mounted relative to a base of the effector.

  It is therefore possible to move relative to the level of the control element for a haptic interface or the effector in the case of a robot. For large rotations, the movement of the cables is close to that for a conventional cable structure for small movements, so the risk of contact between the cables and between the cables and the operator's member is reduced. The principle of stretched cable robots is associated with that of articulated structure robots by embedding an articulated wrist on the end organ of a cable robot or cable interface to increase the rotating work space. In general, the proposed solution combines: a tensioned cable interface for controlling the position and orientation of a composite active member, an embedded active composite member having an active end that it can drive, the end active being either an element capable of acting on the environment, or an element for transmitting a command from an operator. The present invention therefore mainly relates to a tensile cable structure for haptic or robot interface comprising a rigid armature, an element capable of interacting with the external environment or an operator, said element comprising a platform and a movable member pivotable around at least one axis of rotation relative to said platform, said platform being suspended inside the frame by suspension cables fixed to said frame, said platform being able to be moved by winding and unwinding of said cables obtained on reels / unwinders of said suspension cables, structure in which means for moving said member relative to the platform are provided, the moving member moving means relative to the platform being separate from the reels / unwinders of the suspension cables .

  In a first embodiment, said moving means are embedded on the platform. Said on-board moving means may comprise a rotary electric motor and a rotation sensor of said motor. For example, the rotational drive of the mobile member by the motor can be performed by friction, gear, cable (capstan type), belt.

  In a second embodiment, said moving means are of the cable type fixed on the rigid frame and connected by cables to the movable member. Said cable type moving means may comprise at least two rotation cables fixed on the mobile member and a retractor / unwinder fixed on the frame for each of the cables. The winding / unwinding of said rotation cables is then advantageously coordinated. Advantageously, the reels / unwinders of said movable member moving means are juxtaposed to the reels / unwinders of the suspension cables to reduce the visual intrusion thereof and the cables they control.

  In one exemplary embodiment, the two rotation cables pass through the platform and are fixed on the periphery of the mobile member substantially in the same place, so as to be able to each exert a tangential force on the mobile member to move it in rotation in one direction and in an opposite direction depending on the winding / unwinding of each of the rotation cables. In an alternative embodiment, the movable member is rotated about one or more axes by cable displacement means and around other axes by motorized means embedded on the platform. The structure according to the present invention may then comprise a differential formed by two coaxial pulleys adapted to be driven separately in rotation by two pairs of cables connected to reels / unwinders mounted on the frame, planetary sheaves linked to the pulleys, a carrier-satellite and a satellite supporting the mobile member, said differential being able to rotate the movable element around two axes of rotation according to the rotational directions of the pulleys, the displacement around a third axis of rotation being effected by the means embedded on the platform. The structure according to the present invention can then also comprise a parallel-type structure formed by two branches each comprising a pair of first and second segments, the segments of each pair being attached to one another in a rotationally mobile manner. one end, the first segment being connected to a sector adapted to be rotated by two motors or cables moved by reels / unwinders mounted on the frame, the two branches joining at one end, and a member mobile mounted at said end of the branches, said wrist of parallel type being adapted to rotate the movable member about two axes of rotation according to the rotation directions of the sectors, the displacement around a third axis of rotation performed by means embedded on the platform. In an exemplary embodiment, the member may be rotatably mounted on a second segment, itself rotatably mounted on a first segment, rotatably mounted on the platform, the axes of rotation of the movable member and the first and second segments. being distinct. In this case, the cables are advantageously guided by return pulleys along the first and second segments. In this example, each of the first and second segments can be rotated by a pair of cables, the reels / unwinders are fixed on the frame.

  In another variant embodiment, the mobile member is rotatably mounted around three axes relative to the platform by means of a ball joint, said movable member being able to be moved relative to the platform at means of at least four cables fixed at their end to the periphery of an actuating part of the movable member and passing through the platform, so as to be able to exert forces on the mobile member to move it in rotation in one direction and in an opposite direction around the three axes of rotation according to the combination of the windings / unwraps of the rotation cables. The actuating part may be cross-shaped, the cables being fixed at each end of the cross.

  It can also be provided that the cables are guided by eyecups when the cables cross the platform or pulleys, to reduce friction. The mobile member may be a handle adapted to be entered by an operator, which may comprise at least one control button, at least one touch actuator and / or at least one control trigger. The mobile member may also be a jaw of a gripper robot, the platform comprising a fixed jaw arranged to allow gripping element by the approximation of the jaws. The subject of the present invention is also a haptic interface comprising a cable structure according to the present invention, means for controlling the reels / unwinders and means for controlling the moving member's moving means to generate a feedback at the level of the member. mobile.

  The subject of the present invention is also a robot comprising a cable structure according to the present invention and means for controlling the reels / unwinders and means for controlling the means for moving the moving member to make the moving member perform an action on the the environment. BRIEF DESCRIPTION OF THE DRAWINGS The present invention will be better understood from the following description and the accompanying drawings, in which: FIG. 1A is a perspective view of a first example of a first embodiment of FIG. a cable structure according to the present invention and whose wrist offers a degree of freedom; - Figure 1B is a detail view of a wrist according to the first embodiment; FIGS. 2A and 2B are perspective views of alternative embodiments of the cable structure of FIG. 1A; FIGS. 3A to 3C are perspective views of two variants of engine blocks that can be implemented in the cable structure of the present invention; FIG. 4A is a perspective view of a second exemplary embodiment according to the first embodiment of a wrist according to the present invention offering three degrees of freedom; FIGS. 4B and 4C are perspective views of the cable structure using the wrist of FIG. 4A; FIG. 5 is a perspective view of an alternative embodiment of the wrist of FIG. 4; FIGS. 6A and 6B are perspective views of the cable structure using the wrist of FIG. 5; FIGS. 7A and 7B are two different perspective views of a first example of a second embodiment of a wrist according to the present invention providing a degree of freedom; FIGS. 8A to 8C are perspective views of cable structures using the wrist of FIGS. 7A and 7B; Figure 9 is a perspective view of a detail of one of the structures of Figures 8A-8C; FIGS. 10A to 10C are views in different perspectives of a second exemplary embodiment of a wrist according to the second embodiment offering two degrees of freedom; FIG. 11 is a perspective view of a cable structure using the wrist of FIGS. 10A to 10C; FIGS. 12A to 12D are views in different perspectives of a third embodiment of a wrist according to the second embodiment offering three degrees of freedom; FIG. 13 is a perspective view of a cable structure using the wrist 30 of FIGS. 12A to 12D; FIGS. 14A to 14D are views in different perspectives of a wrist according to a third embodiment offering three degrees of freedom; FIG. 15 is a perspective view of a cable structure using the wrist of FIGS. 14A to 14D; FIGS. 16 to 18 are perspective views of examples of wrists according to the present invention incorporating additional functions; FIGS. 19A and 19B are perspective views of an exemplary embodiment of an effector for a robot according to the present invention; FIGS. 20A and 20B are perspective views of a first example of a wrist according to the present invention offering three degrees of freedom, two of which are used within a parallel structure; - Figure 21 is a perspective view of a cable structure implementing the wrist of Figures 20A and 20B; FIGS. 22A and 22B are perspective views of a second example of a wrist according to the present invention offering three degrees of freedom, two of which are implemented within a parallel structure; Fig. 23 is a perspective view of a cable structure embodying the wrist of Figs. 22A and 22B; FIGS. 24A and 24B are perspective views of an exemplary wrist according to the present invention offering three degrees of freedom in parallel; - Figure 25 is a perspective view of a cable structure implementing the wrist of Figures 24A and 24B. DETAILED DESCRIPTION OF PARTICULAR EMBODIMENTS The present invention will be set forth in the following description describing a haptic interface, however the present invention fully applies to effector robots and these are included in the present invention. In addition, in the following description, we will place ourselves in the case of an interface with six degrees of freedom, however this is in no way limiting. In FIG. 1A, a haptic interface can be seen in the form of a cable structure 4 comprising a wrist 2 suspended inside a frame or support 3 having a rigid reinforcement, in parallelepipedal shape represented by cables 6.1 to 6.8 suspension. 2 is made movable inside the support rollers / unwinders 8.1 to 8.8 fixed on and ensuring a winding and unwinding 6.1 to 6.8. In the case of a haptic interface, the wrist forms the element that the operator will move by grasping it for example with one hand. In the case of a robot, the wrist forms the end able to exert an action on the outside. In the example shown, the eight reels / unwinders are arranged at the corners of the example rectangle, the wrist 3 by means of the support of the cables 20 support 3. But any other provision as we will see later, enters into the scope of the present invention. In particular, in a seven-wire interface, a winder / unwinder can be arranged in the middle of one side of the cube. FIG. 1B shows in detail the wrist 2 comprising an upper plate 10 and a lower plate 12 integrally connected by a connecting pin 14. In the example shown, the plates 10, 12 have substantially a shape shuttle, oriented orthogonally with respect to each other. The plates 10, 12 and the axis 14 have no relative movement.

  The cables are hung in pairs at the ends of the plates 10, 12. The cables 6.1, 6.2 are fixed at one end 10.1 of the plate 10. The cables 6.3, 6.4 are fixed at one end 10.2 of the plate 10, opposite to the end 10.1. The cables 6.5, 6.6 are fixed at one end 12.1 of the plate 12. The cables 6.7, 6.8 are fixed at one end 12 of the plate 12, opposite the end 12.1. This arrangement of the cables is given as an example. Any other provision is within the scope of the invention. The cables could in particular be fixed at eight different points of the plates 10 and 12 or the connecting pin 14. The wrist 2 also comprises a gripping element 16, which we will call handle later, intended to be grasped by the user. The handle 16 is rotatably mounted about the connection axis 14 by means of bearings (not shown). The handle 16 has, for example, the shape of a tube mounted around the connecting axis 14 coaxially with it, and capable of rotating about this connecting axis 14, thus forming an axis of rotation X of the 16. The wrist 2 also comprises a motor 18 equipped with an angular encoder (not shown) or any other means for measuring the rotation. The encoder is fixed in the example shown on the lower plate 12. The motor 18 drives the handle in rotation by means of a driving pulley 19, by friction, by gearing, by cable (capstan type), by belt or any other appropriate means to generate a return of force. This wrist according to the present invention increases the deflections around the axis X of the handle. The rotations desired by the manipulator about the X axis can therefore be distributed between the rotation of the wrist 2 relative to the support and the rotation of the handle relative to a platform 20 formed by the plates 10, 12 and the axis of connection 14. Thus large rotations are possible avoiding contact between the cables. For this, the means for moving the handle 16, i.e. the motor in the example described and those of the wrist, i. e. the suspension cables 6.1 to 6.8 are controlled in a coupled manner in order to distribute the rotations between those made by the platform 20 relative to the support and those of the handle 16 made with respect to the platform. Thus the amplitude of the displacements of the platform 20 is reduced, limiting the risks of contact between the cables 6.1 to 6.8.

  The rotations can also be performed within the wrist alone, ie by the rotation of the handle 16 relative to the platform 20. In this mode of operation, the support and the cables serve only to maintain fixed orientation of the platform. form 20 in space. The handle 16 is generally provided with control buttons, as we shall see later, but which are not shown here for the sake of simplicity and clarity of the figures. Several types of winder / unwinder 8.1-8.8 can be implemented in the present invention. In Figure 3A, we can see a first variant of such a winder / unwinder. The reel / unwinder 8.1 comprises a motor 21 driving in rotation a pulley 22 mounted on its shaft 24, around which the cable 6.1 is intended to wind. Advantageously, a support 26 for fixing the winder / unwinder 8.1 on the armature 3, comprises a passage 28 for guiding the movement of the cable 6.1. One could also provide a winding directly on the output shaft 24 of the engine.

  In the example shown, the cable is wound on the pulley 22 which allows to control its winding so its length and / or the force exerted along its axis. The rotation of the motor 21 is measured by an angular position sensor 23. It should be noted that the length of the cable could be measured by other means, for example by directly measuring with a stereoscopic measurement system the position and the orientation of the handle. The support 26 may incorporate a bearing, for example of the ball bearing type, at the other end of the pulley 22 to take up the forces exerted on the cable 6.1. A second bearing could be arranged on the motor side to relieve the bearings of the actuator. Advantageously, the passage 28 is bordered by a bronze eyelet 30 to minimize the friction of the cable 6.1 on the support 26. Particularly advantageously, the pulley 22 is provided with a thread. On the one hand, this prevents the cable 6.1 overlaps and gets entangled by winding and unwinding. On the other hand, it keeps a constant radius to the neutral fiber of the cable 6.1, which would not be the case if the cable overlapped. Under these conditions, the reduction ratio is constant and it is possible to properly control the forces in the cable. By against the cable advancing on the pulley 22 as it winds or unwinds, its length between the exit point of the pulley and the guide eyelet 30 varies slightly depending on the winding cable. If the eyecup 30 is disposed at a sufficient distance from the axis of the pulley and the deflection is limited, this variation is negligible. Otherwise it will be taken into account in the calculation of the length of the cable. In Figures 3B and 3C, we can see a second variant of a reel / unwinder 8.1. This retractor differs from that shown in Figure 3A, in that the cable 6.1 is fixed on the motor pulley 22 by a screw 32 which pinches slightly. The motor 21 is connected to the support 26 which can be connected to the armature 3 by means of two fixing screws 34.

  In addition, the reel / unwinder 8.1 comprises two holding rollers 36 arranged next to the motor pulley 22; such that their axis is parallel to that of the motor pulley 22. The distance between the surface of the rollers 36 and that of the motor pulley 22 is sufficiently large to allow the cable 6.1 to pass, but small enough that the cable 6.1 can not leave the thread of the motor pulley 22 in which it is guided. It can be provided either to fix the rollers 36 on the support 26 in the case where there is a slight clearance between the cable and the holding rollers, or to mount the rollers 36 in rotation on the support 26, if the cable 6.1 is in contact with them, to minimize friction in the reel / unwinder 8.1. The rollers 36 therefore permanently hold the cable in the thread of the pulley. Normally, the motors 21 are controlled so that the 6.1-6.8 cables are always tensioned and these rollers are, in this case, superfluous. However, when the system is not energized, the 6.1-6.8 cables are relaxed and without ancillary device, they can leave the threads of the pulleys 22 and become entangled. Thanks to the rollers, the cables stay in their threads. It is also planned to replace the guide eyelet 30 with a pulley 38 to further reduce friction. This pulley 38 is mounted on a support 40 mounted free to rotate on the support 26 about an axis A orthogonal to that B22 of the motor pulley 22 and an axis of rotation B38 of the pulley 38.

  The movement of the pulley support 40 around the axis A associated with the winding of the cable 6.1 around the motor pulley 22 makes it possible to always point the cable 6.1 towards the point of attachment of the cable 6.1 on the platform 20, and more particularly on the upper plate 10. Indeed the tension of the cable causes this alignment. This rotation is performed by a bearing (here a non-visible ball bearing, but a sliding bearing would also be suitable) to minimize friction.

  The pulley 38 is rotatably mounted about the axis B38 which is shown in Figures 3B and 3C parallel to the axis B22 of the motor pulley 22; the pulley 38 can be mounted on ball bearings (a smooth landing could also be used). One could predict to measure the rotations around the axes A and B38 with the use of additional sensors. This information would be useful to know precisely the routing of the cables so their length is used by the controller to determine the position of the wrist in space.

  Advantageously, two holding pulleys 42 are provided on the support 26 upstream of the passage 28, these holding pulleys 42 have axes of rotation orthogonal to the axes A and B22 and are arranged on either side of the cable slightly offset along the axis A. These holding pulleys 42 ensure proper entry of the cable 6.1 in the groove of the guide pulley 38, whatever its winding on the motor pulley 22, so whatever the distance between the exit point cable 6.1 of this pulley and the face of the motor, so whatever the angle between the cable 6.1 and the face of the engine. Here again, to be sure that the cable 6.1 rubs in a reduced manner on the flanks of the thread of the motor pulley 22 and that its length does not vary between the point of exit of the motor pulley 22 and the holding pulleys 42, the latter pulleys 42 are advantageously located sufficiently far from the motor axis B22.

  The motor 21 can be of any type, for example of the DC motor type, brushless motor, geared motor, AMF (shape memory). This engine can be used in different ways. On a robot, it will be used instead to put the effector in motion while on a haptic interface, it will rather be used to resist the movements of the user. In the latter case, one could also associate the motor 21 with a brake (powder type, magnetic brake, rheological fluid brake, ...) to increase the ability of the interface to oppose the movements of the user. Similarly for the position sensor, it can be an optical encoder, a hall effect sensor, a magneto-optical sensor, a potentiometer, It could be expected to add a force sensor on the cable or one of the parts guide (the support, eyecup, or pulley, ...) to measure the tension of the cable. A balance device with spiral or straight spring could also be added on the motor pulley 22 or on the cable 6.1 to compensate for all or part of the weight of the wrist 2. The cables can also be made of different materials (metal, plastic, textile, kevlar, composite, ...) and of different types (single-strand, multi-strand, braided, doubled, ...). The wrist axes may furthermore be equipped with additional position sensors, just as the platform may be spotted in space by an appropriate device such as a stereoscopic 3D vision system, called Motion Capture. The motor 18 could be integrated directly in the axis of the handle 16, as shown in Figure 2B.

  Moreover, FIGS. 2A and 2B show two examples of interface according to the present invention, comprising seven reels / unwinders 8.1-8.7, one 8.1 of the reels / unwinders 8.1-8.7 being disposed substantially in the center of a side of the frame.

  In Figure 2B, the motor is integrated directly in the axis of the handle, ensuring an actuation in the axis of the handle. The haptic interface according to the present invention is intended for example to remotely control the movements of an effector robot which may be of the type of the present invention. The controls of the operator are detected by means of the sensors carried by the wrist, in particular by means of those measuring the rotation of the handle 16 relative to the platform and those measuring the winding and unwinding of each of the cables. All these measurements are used in one unit to calculate the relative movement of the handle relative to the cable support and to control the robot accordingly. Moreover, the cables and the motor 18 make it possible to generate resistant forces at the level of the handle, thus forming a force feedback interface.

  In Figure 4A, there is shown a second embodiment of a wrist 104 according to the present invention with three degrees of freedom. The wrist 104 comprises a platform 120 whose movements are controlled in space by the cable structure. The platform 120 comprises an upper plate 110, a lower plate 112 connected by a connecting piece 114 rigidly. The wrist 104 also comprises a first segment 121 rotatable about an axis C relative to the platform 120, a second segment 122 rotatable about an axis D on the first segment 121 and a handle 116 rotatable around the X axis on the second segment 122. The first segment 121 and the second segment 122 have for example the shape of an arc.

  With such a configuration, it is possible to generate any orientation in a limited workspace. The three axes of rotation D, C, X can advantageously be concurrent as in the example shown (which makes it possible to generate rotational movements at the point of concurrence of the axes without associated parasitic translation movement) and advantageously be perpendicular in the configuration. reference (which makes it possible to reject singular configurations in which the robot can no longer be correctly controlled and which appear when two axes of rotation are aligned at important orientations, substantially equal to ninety degrees). The wrist also has a first motor 124 for driving the segment 121 in rotation around the axis C, the motor 124 is associated with an encoder (not shown). The motor 124 drives the segment 121 through a pulley 128 integral with the motor shaft 124 meshing with a sector 130 secured to the first segment 121. It can also provide a capstan drive, belt or other. There is also a second motor 132 for rotating the second segment 122 about the axis D, associated with an encoder (not shown), the drive is performed similarly to the segment 121. The handle 116 is also driven in rotation about the X axis by a motor 138 associated with an encoder (not shown) via for example a pulley 136 and a sector 134. This wrist allows according to the present invention to increase the deflections in orientation, this time around all the axes C, D, X and not around a single axis X as in the wrist of Figure 1B. The rotational movements exerted by the operator can be shared between the tensioned cable structure and the wrist, which operates as two devices in series, thus the respective rotational capacities are added. The range of motion of the cables is then reduced, the risks of contact are then reduced. They can also be performed by the wrist alone, the cable structure then serving only to maintain fixed orientation of the platform. One could also consider a wrist type parallel, examples of which are shown in Figures 20A, 20B, 21 and 22A, 22B, 23 and will be described in detail later.

  Moreover, any other type of actuator could be used as has been previously described (motors or brakes). In FIG. 4B, an exemplary embodiment of a structure 102 with eight cables stretched with a wrist 104 shown in FIG. 4A can be seen, two cables being hooked at each of the ends of the upper and lower plates 110 and 112. In FIG. 4C, one can see a structure 102 'with seven cables stretched with a wrist 104 shown in Figure 4A. Two cables are attached to each end of the bottom plate 112 and at lower corners of the frame frame, two cables are attached to one end of the top plate 110, and one cable is attached to the other end of the frame. the upper plate 110 and a central portion of one side of the frame. FIG. 5 shows an alternative embodiment of a wrist 204 according to the present invention with three degrees of freedom and four motorized axes (this wrist is therefore redundant, which makes it possible to increase the working space by orientation by rejecting singularities at larger inclinations). The wrist 204 comprises a platform 220 formed of an upper plate 210, a lower plate 212 and a connecting piece 214, connecting one end of the upper plate 210 to a central part of the lower plate 212, thus forming a rigid piece substantially C-shaped.

  The wrist 204 also has a first semicircular segment 221 connected by each of its ends 221.1, 221.2 to the central portions of the upper and lower plates 212 and 212.

  The first segment 221 is rotatably mounted on the upper plates 210 and lower 212 about an axis E. A motor 224 mounted on the lower plate 212, can control the rotation or apply a resistance to the movement of the operator around this axis E by means of a pulley 226 engaged with the motor 224 and the sector 230 which is integral with the segment 221. This transmission can be carried out by any appropriate means (gears, cables, capstan, belt, ...), similarly to what has been described in connection with FIG. 4A. The motor 224 could also be mounted on the upper plate 210. The wrist 204 also comprises a second segment 222 mounted to rotate about an axis F relative to the first segment 221. The second segment 222 is in the form of a quarter of a circle and is connected at one of its ends 222.1 to a central part of the first segment 221. A motor 232 makes it possible to control the rotation of the second segment 222 or to apply a resistance to the movement of the operator around this axis F by via a pulley and a sector, similarly to the first segment 221. A third segment 223 is rotatably mounted at another end 222.2 of the second segment 222 opposite the end 222.1 connected to the first segment 221. This segment 223 is substantially perpendicular to the second segment 222 and extends substantially vertically upwards in FIG.

  The segment 223 can rotate about the axis G with respect to the segment 222. A motor 237 makes it possible to control the rotation of the third segment 223 with respect to the second segment 222 about the axis G or to apply a resistance to the movement of the operator around this axis G via a pulley and a sector which is integral with the third segment 223. The wrist 204 also comprises a handle 216 rotatably mounted on the third segment 223 about an axis X and disposed substantially vertically in Figure 5. A motor 238 is also provided to control the rotation of the handle 216 about the axis X, or to apply a resistance to the movement of the operator around this axis X, by means of a pulley and a sector integral with the handle 216. In the example shown in FIG. 5, the axes E and X are aligned in the reference configuration; moreover, the axes E, F, G and X are concurrent. It is understood that the axes E and X could also be shifted, and the axes E, F, G and X may not be concurrent. In the example shown, the axes E, F, G and X are orthogonal in the reference configuration, but they could also make a different angle between them. Each motor is associated with an angular position sensor (not shown). As for the wrist 104 of FIG. 4A, this wrist 204 makes it possible to increase the deflections in orientation around all the axes. These rotations can be shared between the tensioned rope structure and the wrist. Rotations can also be performed by the wrist alone, the cable structure then serving only to maintain fixed orientation of the platform.

  This configuration therefore makes it possible to significantly increase the working space in orientation. Rotations can be shared between the tensioned cable robot and the serial wrist. They can also be performed by the wrist alone, the cable robot then serving only to maintain fixed orientation of the platform. In this embodiment, the actuators of the wrist are embedded thereon, which makes it possible to preserve the simplicity of the cable structure. FIG. 6A shows an exemplary embodiment of a structure 202 with eight cables stretched with a wrist 204 = shown in FIG. 5, two cables being attached to each of the ends of the upper and lower plates 110 and 110. FIG. 6B shows a structure with seven tensioned cables 202 'with a wrist 204 shown in FIG. 5. Two cables are fixed at each of the ends of the bottom plate 112 and at the bottom corners of the frame 203, two cables. are attached to one end of the upper plate 110, and a cable is attached to the other end of the upper plate 110 and to a central portion of one side of the frame 203.

  In FIGS. 7A and 7B, we can see a first example of a second embodiment of a wrist according to the present invention, in which the wrist actuators are not embarked on it, but are supported by the structure cables and connected to the wrist by cables. The wrist structure of Figures 7A and 7B is very close to that of the wrist of Figure 1A. The wrist 304 comprises an upper plate 310 and a lower plate 312 integrally connected by a connecting shaft 314. The plates 310, 312 and the shaft 314 therefore have no relative movement. The cables are hung in pairs at the ends of the plates 310, 312. The cables 306.1, 306.2 are attached to an end 310.1 of the plate 310. The cables 306.3, 306.4 are attached to an end 310.2 of the plate 310, opposite to the end 310.1. The cables 306.5, 306.6 are attached to an end 312.1 of the plate 312. The cables 306.7, 306.8 are attached to an end 312.2 of the plate 312, opposite the end 312.1. The wrist 304 also comprises a handle 316 rotatably mounted around the connecting shaft 314, by means of bearings (not shown). The handle 316 has, for example, the shape of a tube mounted around the connecting shaft 314 coaxially with it, and is able to rotate about this connecting axis 314, thus forming an axis of rotation X for the handle 316.

  Any other basic form might be suitable. The position and the orientation of the platform 320 are controlled by eight winders / unwinders 308.1 to 308.8 located at the corners of the frame 303 and the associated cables 306.1 to 306.8, which are attached to the ends of the plates 310, 312 (on the 8A, the winder / unwinder 308.1 is hidden by the support 303). Moreover, in this embodiment, the handle is moved in rotation about an axis X by means of two reels / unwinders 340, 342 mounted on the frame 303 of the cable structure 302. In FIG. winders / unwinders 340, 342 are located near the middle of one of the edges of the frame 303 and are connected to the handle 316 by two cables 344, 346.

  In the example shown, the cables 344, 346 pass through the bottom plate 312 in which two holes 348, 350 have been made. In the example shown, the holes 348, 350 are provided on the underside side 312.4. eyecups 354 to limit friction and the side of an upper surface 312.3 of the bottom plate 312 of return pulleys 352, which reduces the friction of the cables 344, 346 on the bottom plate 312.

  It would also be possible to provide eyelets or return pulleys on the two faces 312.3, 312.4 of the bottom plate 312. In the case where the return pulleys are used on the lower face of the plate 312, these pulleys can advantageously be supported by supports mounted free in rotation on the plate. In the case where the return pulleys are used on the upper face of the plate 312, their support can be fixed relative to the plate. The cables 344, 346 are attached to the periphery of the handle 316 by a stop member 356. There may be provision for increasing or decreasing the diameter of the handle locally to decrease or increase the available torque. Thus, by pulling on the cable 344, the handle 316 is rotated in a clockwise direction. By pulling on the cable 346, it is driven counterclockwise. These two movements are coordinated. Moreover, these movements are also coordinated with those of the platform 320 of the wrist 304 which is also mobile, since all the movements are coupled. In order to facilitate this coordination between all the winders / unwinders, it is possible to integrate the angular position sensors (not shown) in the deflection pulleys 352 and / or between the connecting element 314 and the handle 316 in order to know the internal rotations. The rotations can also be calculated from the information from the winder / unwinder sensors. It is also possible to combine the two measuring means. In FIG. 8A, the complete interface with the frame 303 and the wrist 304 and the two additional retractors / unwinders 340, 342, mounted one beside the other in a middle portion of a 303. The reels / unwinders 340, 342 are similar to those of the cable structure and described in connection with Figures 3A to 3C. The cables 344 and 346 may be formed of two separate cables attached at one of their ends to the stop member 356 and at the other end to the reels / unwinders 340, 342 or to form two strands. the same cable attached substantially in the middle to the stop member 356 and at its ends on one side to the reel / unwinder 340 and the other to the reel / unwinder 342. In Figures 8B and 8C , we can see another embodiment of an interface implementing the wrist 304, in which the reels / unwinders are arranged in different ways. In FIGS. 8B and 8C, the winders / unwinders 340, 342 are arranged near the vertices of the armature 303. In this case, the visual intrusion is less. By adjusting this position, it can be found that in the reference configuration, the additional cables 344, 346 for actuating the handle 316 are parallel to those of the cable interface which controls the platform 320 of the wrist 304. This improves its aesthetic appearance. The interface according to this embodiment has the following advantages: The reels / unwinders used are simple and of limited cost. It offers a good dynamic because of the small number of moving parts, since the reels / unwinders are carried by the armature and are therefore immobile. It offers a weak visual intrusion since the size of the wrist is reduced. This wrist according to the present invention increases the deflections around the axis X of the handle. The rotations desired by the manipulator around the X axis can therefore be distributed between the rotation of the wrist 304 relative to the support and the rotation of the handle 316 relative to a platform 320. Thus, large rotations are possible while avoiding contact. between the cables. For this, the means for moving the handle 316, ie the cables 340, 342, ie the suspension cables 306.1 to 306.8 are controlled in a coupled manner in order to distribute the rotations between those made by the platform 320 relative to the support and those of the handle 316 made relative to the platform. Thus the amplitude of the movements of the platform 320 is reduced, limiting the risk of contact between the cables.

  In Figure 9, we can see in detail the winder / unwinder 308.5 and the winder / unwinder 342 of Figures 8B and 8C, they are arranged next to each other, and the visual intrusion of reels / unwinders and the visual intrusion of cables in the reference position are very small. Any other arrangement of additional reels / unwinders is possible. They could also be inclined or replaced by drive blocks guided by return pulley. In FIGS. 10A to 10C, different views of a wrist 404 can be seen according to a second example of the second embodiment with two degrees of freedom. The wrist 404 has a structure close to that of the wrist 104 and differs therefrom in that the reels / unwinders are carried by the armature 403 of the cable structure 402.

  The description which follows will be limited to describing in detail the connections between the reels / unwinders and the wrist. The first segment 421, rotatably mounted on the connecting piece 414 about the axis C, is rotated by two cables 460, 462 mounted around a pulley 461 integral with the segment 421 and fixed to this pulley 461 by a stop means 463, the cables 460, 462 being each connected by their second end to winders / unwinders 464, 466 mounted on the armature 403. In the example shown, the cables 460, 462 are guided through the lower plate 412 on its upper face 412.4 and on its lower face 412.3 by bronze eyelets or any other material adapted to the nature of the cable to minimize friction. It would also be possible to use return pulleys, as in the wrist of FIGS. 7A and 7B. In this case, it would be preferable for the support of the input pulleys (situated on the lower face 412.3 of the lower plate) to be free to rotate around the axis of passage of the cable through the base, as to the support of the pulleys. on the upper face of the lower plate, it may not turn. The second segment 422, rotatably mounted on the first segment 421 about the axis D, is rotated by two cables 468, 470 mounted around a pulley 469 integral with the second segment 422 and fixed to this pulley 469 by a stop means 471, the cables 468, 470 being each connected by their second end to winders / unwinders 472, 474 mounted on the frame 403. In the example shown, the cables 468, 470 pass through the connecting piece 414. The connecting piece comprises at the intersection of the axis C and the connecting piece 414, on its face 414. 1 on which is mounted the first segment 421 an orifice 473 for the passage of the two cables 468 , 470, and on its opposite side 412.2 two holes for each of the cables 468, 470. Advantageously, the holes are bordered by eyelets 475, for example bronze or other material adapted to reduce friction. Return pulleys mounted on the face 414.2 of the connecting piece 414 could be used in place of the eyelets.

  The cables 468, 470 passing through the platform 420 near the axis C, their length is not affected by a rotation of the first segment 421 around this axis C. Each cable 468, 470 is then guided by a pair of pulleys 476.1, 476.2, 478.1, 478.2 are mounted in rotation on supports fixed on the first segment 421. The handle 416 can be secured to the second segment 426.1, 478.1-478.2. segment, thus the actuation of the cables 468, 470 causes the movement of the handle 416. The handle 416 could be mounted directly on the pulley 469. Similarly to the wrist 104, the handle 416 could also be rotatable relative to the second segment around an X axis, for that an onboard engine similar to that described for the wrist 104 would be provided. In this case, the wrist 404 would offer three degrees of freedom, two of these degrees of freedom being actuated by reels / unwinders fixed on the support 403 and the last being actuated by an onboard engine. In Figure 11, we can see the complete interface implementing the wrist 404 of Figures 10A to 10C. The position and the orientation of the platform 420 are controlled by the eight winders / unwinders 408.1 to 408.8 located at the corners of the armature 403 and the associated cables 406.1 to 406.8 which are connected to the ends of the plates 404, 410 of the wrist 404 Two pairs of additional reels / unwinders 464, 466 and 472, 474 are mounted on the frame 403. These additional reels / unwinders are located, in the example shown, near four of the vertices of the frame 403, which limits their visual intrusion. They could however adopt any other position. Two of these reels / unwinders 464, 466 (those located in the lower part of the frame) allow to actuate the rotation of the first segment 421 around the axis C, the other two 472, 474 (those located in the part high of the frame) allow to actuate the rotation of the second segment 422 around the axis D. As in the case of the wrist 304, the movements of all the cables are coordinated, in particular those of the cables 460, 462 and those cables 468, 470 because all the movements are coupled. It may be interesting to facilitate this coupling to integrate angular position sensors on the pulley 461 of the first segment 421 and the pulley 469 of the second segment 422, in addition to the sensors located on the reels / unwinders. The rotations, similar to the other interfaces, can be shared between the platform 420 controlled by the tensioned cable structure 402 and the wrist 404 driven by the additional reels / unwinders, the controls of their moving means then being dependent. The rotations can also be performed by the wrist 404 alone, the cable structure then only serving to maintain fixed the orientation of the platform 420.

  The wrist 504 of FIGS. 12A to 12D differs from the wrist 404, in that the handle 516, rotatably mounted on the second segment 522 about the X axis, is actuated by two cables 580, 582 including the reels / unwinders 584, 586 are fixed on the frame 503 of the tensioned cable structure 502. In the description which follows, we will therefore describe in detail the remote means for actuating the handle 516, the other elements being similar to those of the wrist of FIGS. 10A has already been described. The wrist includes an upper plate 510 and a lower plate 512 rigidly connected by a connecting piece 514, a first segment 521 is mounted to rotate about an axis C on the connecting piece 514, a second segment 522 mounted mobileen rotation at one end of the first segment 521 about an axis D and the handle 516 rotatably mounted on the second segment 522 about the axis X. As previously written, the rotation of the segments 521, 522 around the axes C , D respectively is performed in the same way as for the wrist 404. It will therefore not be detailed later. A pulley 588, rotatably mounted on the handle 516, is rotated in one direction by the cable 580 and in another by the cable 582 attached to the pulley by a stop 587. Each cable 580, 582 is guided by the pulley 588 to the reel / unwinder 584, 586 respectively by pulleys. We will detail the guide means of the cable 580, those of the cable 582 being similar. In the example shown, the cable 580 is guided by six return pulleys 580.1 to 580.6.

  The cable 580 passes through the upper plate 510, in which is formed a passage comprising, advantageously eyelets at its ends to reduce friction. The pulley 580.1 is mounted on an inner face 510.1 of the upper plate on the side of the handle 516. The pulley 580.2 is mounted on the connecting piece 514. The pulley 580.3 is mounted on the first segment 521 free to rotate thereon , in the example shown, the pulley 580.3 is mounted coaxially with the pulley 561. The pulley 580.4 is mounted on the first segment 521, in the example shown, the pulley is supported by a shaft located substantially at the part bent so that the cable 580 substantially follows the shape of the first segment 521. The pulley 580.5 is rotatably mounted on the second segment 522, in the example shown, it is coaxial with the pulley 569 actuating the second segment 522 The pulley 580.6 is mounted on the second segment, at its bent portion. The cable 580 thus bypasses the axis C while traveling on the pulley 580.3 which rotates about the axis C, it then travels along the segment 521 by the deflection pulley 580.4 then bypasses the axis D by turning around the pulley 580.5 which is free to rotate about this axis independently of the movements of the first and second segments 521 and 522. Finally, the cable 580 bypasses the pulley 580.6 to actuate the pulley 588 integral in rotation with the handle 516.

  The cable 582 travels substantially parallel to the cable 580, the pulleys 582.1 to 582.6 being disposed parallel to or symmetrically parallel to the pulleys 580.1 to 580.6 relative to the median planes of the segments 514, 521 and 522.

  The movements of these cables 580, 582 are coordinated with each other and with those of the wrist 504 for the actuation of the handle 516. It should be noted that the configuration of each of the remote actuating means is not limiting and can be different. Furthermore, the shape of the wrist, including the plates 510, 512 and the connecting piece is also in no way limiting. FIGS. 14A to 14D show a wrist 604 with three degrees of freedom according to a third embodiment of the present invention, the actuation of which is partly obtained by remote means and on the other hand by on-board means on the wrist, thus forming a hybrid embodiment between the first embodiment and the second embodiment. The wrist 604 comprises an upper plate 610 and a lower plate 612 rigidly connected by a connecting piece 614, and a handle 616 suspended from the upper plate 610 by two parallel flanges 631, 633 fixed on the lower face 610.1 of the upper plate 610. The handle 616 is able to be moved in rotation about two axes of rotation H, I by means of pairs of cables 630, 632 and 634, 636 and about the axis X by an electric motor 638. The cables 630 to 636 are respectively connected to reels / unwinders 664 to 670 mounted on the frame 603 of the cable structure 602.

  The cables 630, 632 pass through the upper plate 610 by two passages 640 and are fixed to a pulley 642 by means of a stop 644. The cables 634, 636 pass through the upper plate 610 by two passages 646 and are fixed to a pulley 648. by means of a stop 650. The pulleys 642 and 648 are coaxial and rotatably mounted on the outer faces of the flanges 631, 633. The cables 630 to 636 are advantageously guided on the upper face 610.2 of the upper plate 610 by eyecups to reduce friction. We could also use pulleys. The pulleys 642 and 648 are each connected in rotation to planetaries 652, 654 forming a differential. The differential also comprises a satellite carrier 656 and a satellite 658. This satellite 658 supports the handle 616 which is actuated by the onboard engine 638 associated with an encoder (not shown) via a pulley 660 and a sector 662, for example by means of gears, a cable, a belt, or any other suitable means. When the pulleys 642 and 648 are moved in the same direction about the axis H, the planet carrier 656 rotates about the axis H, driving the satellite 658 which is linked thereto about the axis H, and 616. When the pulleys 642, 648 are each driven in an opposite direction about the axis H, the planet carrier 656 remains fixed and the satellite 658 is rotated about the axis I, causing its turn the handle 616 around this axis. Finally, the onboard motor 638 drives the handle 616 around the X axis. The axes H, I and X are represented concurrently and perpendicularly in the reference configuration. Any other placement of these axes for generating rotations around all or part of the axes of the space is within the scope of the present invention.

  In this embodiment, the axes are not concurrent in the center of the handle, unlike other embodiments with three degrees of freedom. But it is understood that the configurations of the actuating means proposed for the first and second embodiments are also applicable, when the wrist axes are offset relative to the handle as shown in Figures 14A to 14D. In FIG. 15, a complete view of the interface in which the wrist of FIGS. 14A to 14D is implemented in a cable structure can be seen. The four reels / unwinders used in this embodiment are arranged in the example shown at the four upper corners of the frame 603. In FIGS. 16 to 18, examples of wrists similar to that of FIG. 4A can be seen, and incorporating additional functions.

  In FIG. 16, the handle 716 comprises control buttons 718. The handle 816 of the wrist 804 of FIG. 17 comprises a trigger 818 for closing the gripper of a remote robot, this trigger 818 possibly being able to be motorized at the same time. using an onboard or remote actuator on the frame of the tensioned cable interface. Handle 916 of wrist 904 of FIG. 18 includes a touch actuator array 918 to enhance the rendering of haptic information. But it may comprise a single touch actuator or several touch actuator matrices. The additional functions described are of course applicable to all embodiments of wrist according to the present invention. Actuators and tactile matrices can take many forms. For example, they can in particular restore static or vibratory information, by normal indentation to the skin or tangential displacement, this information being able to be related to the texture or the local shape of the objects (local orientation of the surface, curvature, etc.). .). Moreover, their actuation can be performed in different ways (electromagnetic actuators, shape memory actuators, piezoelectric actuators, ...). In Figs. 19A and 19B, two views of an example of a wrist according to the present invention can be seen used as a manipulator robot. In this case, the handle can be replaced by a gripper 1016. One of the jaws 1017 is secured to the third segment 1023 (body of the gripper). The other jaw 1018 is rotatably mounted relative to the third segment 1023 around an axis J shown vertical in FIG. 19. An actuator 1024 comprising a motor 1026 provided with an encoder makes it possible to control the movements of this jaw 1018 relative to the segment 1023 and thus to control the closure of the clamp 1016. The motor 1026 is, in this example, embedded but it could also be offset on the frame of the cable tensioned interface. Any other arrangement of the clip is part of the present invention. The gripper can be replaced by any other means that can be manipulated by a robot, for example cutting, welding means. In FIGS. 20A and 20B, an exemplary embodiment of a wrist 1104 according to the present invention can be seen. invention with three degrees of freedom, two of which are implemented within a parallel structure.

  The wrist 1104 comprises a platform 1120 formed of an upper plate 1110, a lower plate 1112 and a connecting piece 1114, connecting one end of the upper plate 1110 to a central part of the lower plate 1112, thus forming a rigid piece.

  The wrist 1104 also has a first segment 1121 in the shape of a circle portion and connected at one of its ends to the plate 1114 and at its other end to a second segment 1122. The first segment 1121 is rotatable relative to the plate 1114 and can rotate about an axis E. A motor 1125 associated with an encoder (not shown) and mounted on the plate 1114 can control the rotation or apply resistance to the movement of the segment 1121 caused by a movement of the operator by means of a pulley 1126 in engagement with the motor 1125 and the sector 1129 which is integral with the segment 1121. This transmission can be carried out by any appropriate means (gears, cables, capstan, belt, .. .). The second segment 1122 is rotatable about an axis F relative to the first segment 1121. The wrist 1104 also comprises a third segment 1123, one end of which is rotatably mounted about the axis E with respect to the plate 1114 and the other end is rotatable about an axis G with respect to a fourth segment 1124. A motor 1127 associated with an encoder (not shown) makes it possible to control the rotation of the third segment 1123 or to apply resistance to the movement of this segment about the axis E via a pulley 1128 and a sector 1130, similarly to the first segment 1121. The second and fourth segments 1122 and 1124 are interconnected with each other. their second end. They are rotatably mounted around an axis X. Finally, the wrist 1104 comprises a handle 1116 rotatably mounted relative to the fourth segment 1124 about an axis aligned with the axis X. A motor 1131 associated with a encoder (not shown) and attached to the fourth segment is provided to control the rotation of the handle 1116 about the X axis, or to apply a resistance to the movement of the operator around this axis X, via a pulley 1132 and a sector 1133 integral with the handle 1116 for example by means of gears, a cable, a belt, or any other suitable means. The articulated assemblies formed on the one hand of the segments 1121 and 1122 and on the other hand of the segments 1123 and 1124 are arranged in parallel between the plate 1114 and the handle 1116. They therefore form a structure of the parallel type. The handle is arranged in series with these two sets connected in parallel. The axes E, F, G and X are concurrent at a point advantageously located in the center of the handle. When the pulleys 1129 and 1130 are moved in the same direction about the axis E, the segments 1121, 1122, 1123 and 1124 rotate around the axis E, causing the handle 1116 which is connected to the segment 1124 around the axis E. When the pulleys 1129 and 1130 are each driven in an opposite direction about the axis E, the chains articulated formed by the segments 1121 and 1122 on the one hand and 1123 and 1124 on the other hand are driven into opposite senses. These two chains being linked at the end of the segments 1122 and 1124, the axes F and G move away from or near each other while the handle 1116 is rotated about an axis I perpendicular to the axis E. Finally, the motor 1131 drives the handle 1116 about the axis X.

  FIG. 21 presents a complete view of the interface 1102 in which the wrist of FIGS. 20A and 20B is implemented in a cable structure incorporating eight reels / unwinders 1108.1 to 1108.8 arranged in the example represented at the eight vertices of the armature 1103, two cables being hooked at each end of the upper plates 1110 and lower 1112 of the wrist 1104. As in other cases, the wrist 1104 makes it possible to increase the deflections in orientation around all the axes. These rotations can be shared between the tensioned rope structure and the wrist. Rotations can also be performed by the wrist alone, the cable structure then serving only to maintain fixed orientation of the platform. In Figures 22A and 22B, we can see a second embodiment of a wrist 1204 according to the present invention with three degrees of freedom, two of which implemented within a parallel structure.

  The wrist 1204 is similar to the wrist 1104 of Figures 20A and 20B. It comprises a platform 1220 formed of an upper plate 1210, a lower plate 1212 and a connecting piece 1214 forming a rigid part. The wrist 1204 also has a first segment 1221 connected on one side to the plate 1214 and the other to a second segment 1222. The first segment 1221 is rotatable about an axis E relative to the plate 1214. Two winders / unwinders 1260 and 1262 mounted on a frame 1203 make it possible to control the rotation or to apply a resistance to the movement of the segment 1221 by means of two cables 1268 and 1270 (or two strands of the same cable) fixed on a pulley 1281 by means of a stop element 1283 identical to the stop element 1284 and not visible in FIGS. 22A and 22B by the sector 1230. The pulley 1281 is rigidly connected to the sector 1229 which is integral with the segment 1221. The second segment 1222 is rotatable about an axis F relative to the first segment 1221. The wrist 1204 also comprises a third segment 1223, one end of which is rotatably mounted around the E axis by rappo rt to the plate 1214 and the other end is rotatable about an axis G relative to a fourth segment 1224. Two reels / unwinders 1264 and 1266 mounted on the frame 1203 can control the rotation or apply a resistance to the movement of the segment 1223 by means of two cables 1272 and 1274 fixed on a pulley 1282 by means of a stop element 1284. The pulley 1282 is rigidly connected to the sector 1230 which is integral with the segment 1223. In the example shown, the cables 1268, 1270, 1272 and 1274 pass through the upper plate 1210 in which have been made four holes 1280. In the example shown, the holes 1280 are advantageously provided with eyelets whose material is chosen to limit friction (eg bronze). We could also provide pulleys. As on the wrist 1104, the second and fourth segments 1222 and 1224 are interconnected at their second end. They are rotatably mounted around an X axis.

  Finally, the wrist 1204 comprises a handle 1216 rotatably mounted relative to the fourth segment 1224 about the X axis. A motor 1231 associated with an encoder (not shown) and fixed on the fourth segment is provided to control the rotation of the the handle 1216 about the axis X, or to apply a resistance to the movement of the operator around this axis X, via a pulley 1232 and a sector 1233 secured to the handle 1216. The operation wrist 1204 is similar to wrist 1104. The axes E, F, G and X are concurrent at a point advantageously located in the center of the handle. When the pulleys 1229 and 1230 are moved in the same direction around the axis E, the segments 1221, 1222, 1223 and 1224 rotate around the axis E, causing the handle 1216 around this axis. When the pulleys 1229 and 1230 are each driven in an opposite direction about the axis E, the articulated chains formed by the segments 1221 and 1222 on the one hand and 1223 and 1224 on the other hand are driven in opposite directions and the handle 1216 is rotated about an axis I perpendicular to the axis E. Finally, the motor 1231 drives the handle 1216 about the axis X. FIG. 23 shows a complete view of the interface 1202 in which the Wrist of Figures 22A and 22B is implemented in a cable structure incorporating twelve reels / unwinders 1208.1 to 1208.8 and 1260, 1262, 1264, 1266 arranged in the example shown at the eight vertices of the frame 1203. The reels / unwinders 1208.1 to 1208.8 allow to control the position and the orientation of the wrist 1204 or the force applied on this wrist. In the example shown, two of the cables connected to these reels / unwinders are attached to each end of the top plates 1210 and 1212 of the lower wrist 1204. The reels / unwinders 1260, 1262, 1264 and 1266 allow them to control the orientation or couples applied to the handle 1216. It would also be possible to use a wrist with three degrees of freedom in parallel, for example by actuating the handle around the X axis with a coaxial pulley with sectors 1229 and 1230 and connecting rods and connecting rods forming parallelograms with segments 1221 and 1222 or 1223 and 1224.

  As in the other cases, the wrist 1204 makes it possible to increase the displacements in orientation around all the axes. These rotations can be shared between the tensioned rope structure and the wrist. Rotations can also be performed by the wrist alone, the cable structure then serving only to maintain fixed orientation of the platform. In Figures 24A and 24B, we can see an embodiment of a wrist 1304 according to the present invention with three degrees of freedom in parallel. The wrist 1304 comprises a platform 1308 formed of an upper plate 1310, a lower plate 1312, a connecting piece 1314 connecting the upper plate 1310 to the lower plate 1312, and a projection 1316. These four references are fixed together and form a rigid piece.

  The wrist 1304 also comprises a movable member 1318 formed of a movable part 1322 which can for example be globally hemispherical, an actuating part 1320 which can take the form of a cross, a return piece 1324 and a a handle 1326. The movable part 1322, the actuating part 1320, the return part 1324 and the handle 1326 are also fixed together and form a rigid part. The handle 1326 could also be directly attached to the moving part 1322.

  The projecting portion 1316 of the platform 1308 may comprise at its end a surface forming a portion of a sphere on which the moving part 1322 of the movable element 1318 comes into play, the face of which faces the protruding part 1316 has an impression having also a form of sphere portion. A ball is thus made between the parts 1316 and 1322 and therefore between the platform 1308 and the movable member 1318, allowing a relative rotational movement in a certain range of deflections around all the axes passing through the center of the spherical surfaces of the parts 1316 and 1322. Any other solution to make this ball joint would be possible, in particular the use of three concurrent pivot links. Four winders / unwinders 1360 to 1366 mounted on the frame 1303 can control the rotation or apply a resistance to the movement of the actuating part 1320 on which is fixed the handle 1326 entered by the operator. The reels / unwinders 1360 to 1366 are connected to the actuating part 1320 by four cables 1368 to 1374 respectively. These cables pass through the connecting piece 1314 through four holes 1380 which are advantageously provided with guide eyelets (for example bronze) or guide pulleys to minimize friction between the cables and the connecting piece 1314. To explain the operation of the wrist 1304, three axes E, F and X are defined concurrently and passing through the center of the ball jointing the parts 1316 and 1322. These axes can be chosen perpendicular in the reference configuration illustrated in Figures 24A and 24B. These axes could be defined in different directions since the ball makes it possible to turn around any axis of the space. By simultaneously pulling on the cables 1368 and 1370, the movable element is rotated about the axis F in one direction. By simultaneously pulling on the cables 1372 and 1374, the movable element is rotated about the axis F in an opposite direction. By simultaneously pulling on the cables 1368 and 1372, the moving element is rotated about the X axis in one direction. By simultaneously pulling on the cables 1370 and 1374, the movable element is rotated about the axis X in an opposite direction. Finally, by simultaneously pulling on the cables 1368 and 1374, the movable element is rotated about the axis E in one direction. By simultaneously pulling on the cables 1370 and 1372, the movable element is rotated about the axis E in an opposite direction. As in the other cases, the movements of all the cables are coordinated because all the movements are coupled. Particular attention is paid to the cables 1368, 1370, 1372 and 1374 so that a significant effort is not applied to separate the parts 1316 and 1322, which could in some embodiments cause luxation of the patella.

  FIG. 25 shows a complete view of the interface 1302 in which the wrist 1304 of FIGS. 24A and 24B is implemented in a cable structure incorporating twelve reels / unwinders 1308.1 to 1308.8 and 1360, 1362, 1364, 1366 disposed in the The example shown at the eight corners of the frame 1303. The reels / unwinders 1308.1 to 1308.8 can control the position and orientation of the wrist 1304 or the force applied on the wrist. The reels / unwinders 1360, 1362, 1364 and 1366 allow them to control the orientation or the torques applied to the handle 1326. As in other cases, the wrist 1304 makes it possible to increase the deflections in orientation around all the axes. These rotations can be shared between the tensioned rope structure and the wrist. Rotations can also be performed by the wrist alone, the cable structure then serving only to maintain fixed orientation of the platform. It is understood that all the wrists, and more generally all the interfaces and robot manipulators described are examples of non-limiting embodiments and that any wrist, and more generally any interface and any robot manipulator made by a combination of the means described come out of the scope of the present invention. It should also be noted that the motors can be used both for controlling the position of the handle (particularly when the interface is used as a robot) and for controlling the forces applied to it, in particular in response to the movements of the user. (when the interface is used as a force feedback control device). The measurement of the position of the handle for capturing a movement made by the operator to transmit for example to a robot, is obtained, for example by the position sensors of the motors or by an additional sensor (for example of the Motion Capture type). . The handle can also integrate ancillary functions such as buttons or a clamp closing control trigger or tactile actuators or a clamp. The present invention makes it possible to significantly increase the working space in orientation. Rotations can be shared between the tensioned cable robot and the serial or parallel wrist. They can also be performed by the wrist alone, the cable robot then serving only to maintain fixed orientation of the platform.

Claims (23)

  1. Tensile-rope structure for haptic interface or robot having a rigid armature (3, 203, 303, 403, 503, 603, 1103, 1203, 1303), an element (2, 104, 204, 304, 404, 504, 604, 704, 804, 904, 1104, 1204, 1304) adapted to interact with the external environment, said element comprising a platform (20, 120, 220, 320, 420, 1120, 1220, 1320) and a movable member ( 16, 116, 216, 316, 416, 516, 616, 716, 816, 916, 1016, 1116, 1216, 1318) adapted to pivot about at least one axis of rotation (X) relative to said platform (20). , 120, 220, 320, 420, 1120, 1220, 1320), said platform (20, 120, 220, 320, 420, 1120, 1220, 1320) being suspended inside the frame (3, 203, 303, 403, 503, 603, 1103, 1203, 1303) by suspension cables connected to reels / unwinders (308.1 to 308.8, 408.1 to 408.8, 1108.1 to 1108.8, 1208.1 to 1208.8, 1308.1 to 1308.8) attached to said armature (3, 203, 303, 403, 503, 603, 1103, 1203, 1303), said platform (20, 120, 220 , 320, 420, 1120, 1220, 1320) being able to be moved by winding and unfolding said cables on said reels / unwinders, structure in which means for moving said movable member (16, 116, 216, 316, 416, 516 , 616, 716, 816, 916, 1016, 1116, 1216, 1318) relative to the platform (20, 120, 220, 320, 420, 1120, 1220, 1320) are provided, the moving member moving means ( 16, 116, 216, 316, 416, 516, 616, 716, 816, 916, 1016, 1116, 1216, 1318) with respect to the platform being distinct from the reels / unwinders of the suspension cables.   2. Structure according to claim 1, wherein said moving means are embedded on the platform.   3. Structure according to claim 2, wherein said on-board moving means comprise a rotary electric motor and a rotation sensor of said motor.   4. Structure according to claim 3, wherein the drive of rotation of the movable member by the motor is by friction, by gearing, by cable (capstan type), by belt.   The structure according to claim 1, wherein said moving means is of the cable type fixed to the rigid armature (303, 403, 503, 603, 1103, 1203, 1303) and connected by cables to the movable member ( 316, 416, 516, 616, 1116, 1216, 1318).   The structure of claim 5, wherein said cable type moving means comprises at least two rotation cables (344, 346) attached to the movable member (316) and a reel / unwinder (340, 342). fixed on the frame (303) for each of the cables (344, 346). 30   7. Structure according to claim 6, wherein the winding / unwinding of said rotation cables is coordinated.   8. Structure according to claim 6 or 7, wherein the reels / unwinders of said movable member moving means are juxtaposed to the reels / unwinders of the suspension cables to reduce the visual intrusion thereof and the cables they control.   9. Structure according to one of claims 6 to 8, wherein the two cables (344, 346) of rotation through the platform (320) and are fixed on the periphery of the movable member (316) substantially in the same place, so to be able to each exert a tangential force on the movable member (316) to move it in rotation in one direction and in an opposite direction depending on the winding / unwinding of each of the cables (344, 346) of rotation.   10. Structure according to one of claims 1 to 9 in combination with claims 2 and 5, wherein the movable member is rotated about one or more axes by means of moving cables and around other axes. by motorized means embedded on the platform.   11. Structure according to claim 10, comprising a differential formed by two coaxial pulleys (642, 648) able to be driven separately in rotation by two pairs of cables (630, 632, 634, 636) connected to winders / unwinders mounted on the armature, planet gears (652, 654) connected to the pulleys (642, 648), a planet carrier (656) and a satellite (658) supporting the movable member (616), said differential being able to drive in rotation movable element (616) around two axes of rotation (H, I) as a function of the rotational directions of the pulleys (642, 648), the displacement around a third axis of rotation (X) being effected by the means embedded on the platform.   12. Structure according to claim 10, comprising a wrist (1104, 1204) of the parallel type formed by two branches each comprising a pair of first and second segments (1121, 1122 and 1123, 1124; 1221, 1222 and 1223, 1224), the segments of each pair being rotatably attached to one another by an end, the first segment being connected to a sector (1129, 1130; 1229, 1230) adapted to be rotated by two motors (1125, 1127) or cables (1268, 1270, 1272, 1274) moved by reels / unwinders mounted on the frame, the two legs joining at one end, and a movable member (1116, 1216) mounted at said end of the branches, said parallel-type wrist being adapted to rotate the movable member (1116, 1216) about two axes of rotation (E, I) according to the directions of rotation of the sectors (1129, 1130, 1229, 1230), moving around a third axis of rotation (X) being effected by the means on board the platform.   13. Structure according to one of claims 1 to 12, wherein the movable member (116, 216, 416, 516, 1116, 1216) is rotatably mounted on a second segment (122, 222, 422, 522, 1122). , 1222), itself rotatably mounted on a first segment (121, 221, 421, 521, 1121, 1221), rotatably mounted on the platform (120, 220, 420, 1120, 1220), the axes rotation of the movable member and first and second segments (121, 221, 421, 521, 1121, 1221, 122, 222, 422, 522, 1122, 1222) being distinct.   14. Structure according to one of claims 5 to 9 in combination with claim 13, wherein the cables are guided by return pulleys along the first and second segments.   15. Structure according to claim 13, wherein each of the first and second segments is rotated by a pair of cables, the winders / unwinders are fixed on the armature.   16. Structure according to one of claims 6 to 8, wherein the movable member (1318) is rotatably mounted about three axes relative to a platform (1308) by means of a ball joint, said member mobile device being adapted to be moved relative to the platform by means of at least four cables (1368, 1370, 1372, 1374) fixed at their end on the periphery of an actuating part (1320) of the moving member and traversing the platform, so as to exert forces on the movable member to move it in rotation in one direction and in an opposite direction around the three axes of rotation depending on the combination of the windings / unwraps of the rotation cables.   17. Structure according to the preceding claim, wherein the actuating part (1320) is in the form of a cross, the four cables (1368, 1370, 1372, 1374) being each fixed at one end of the cross.   18. Structure according to one of claims 5 to 17, wherein the cables are guided by eyelets or return pulleys when the cables through the platform, to reduce friction.   19. Structure according to one of claims 1 to 18, wherein the movable member is a handle adapted to be grasped by an operator. 30   The structure of claim 19, wherein the handle (716, 816, 916) comprises at least one control button (718), at least one touch actuator (918) and / or at least one control trigger (818). .   21. Structure according to one of claims 1 to 18, wherein the movable member is a jaw (1016) of a gripper robot, the platform comprising a fixed jaw (1017) arranged to allow gripping element by the approximation of the jaws.   22. haptic interface comprising a cable structure according to one of claims 1 to 20, control means of the reels / unwinders and means for controlling the moving member of the moving member to generate a feedback at the mobile member. .   23. Robot comprising a cable structure according to one of claims 1 to 18, 21 and control means of the reels / unwinders and means for controlling the means for moving the moving member to make the movable member perform an action. on the environment.