FORCE CONTROLLING ROBOT

PURPOSE: To accurately sense the reaction force which a force sensor receives from an object to be processed, by installing at the wrist part a junction member which attaches a transmitting member in the form of junction joint in a position near an end effecter before reaching it from the base end o...

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Bibliographic Details
Main Authors JINNO MAKOTO, OGUMA ISAMU, KANDA SHINZO, NAGATAKI SHINTARO
Format Patent
LanguageEnglish
Published 12.11.1996
Edition6
Subjects
CHAMBERS PROVIDED WITH MANIPULATION DEVICES
HAND TOOLS
MANIPULATORS
PERFORMING OPERATIONS
PORTABLE POWER-DRIVEN TOOLS
TRANSPORTING
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Summary:PURPOSE: To accurately sense the reaction force which a force sensor receives from an object to be processed, by installing at the wrist part a junction member which attaches a transmitting member in the form of junction joint in a position near an end effecter before reaching it from the base end of the wrist part. CONSTITUTION: A transmitting member 15 going out of the base end, etc., of a wrist part 7 passes an L-shaped tubing member 22, penetrates a passage hole 21a and junction member 20, is nipped fast by a fixing member 20a as a junction joint, and reaches an end effecter 12 in detouring the front of the junction member 20. When the wrist part 7 moves and the transmitting member 15 is willing to wind on the wrist part 7, the transmitting member 15 winds on the junction member 20, and will never wind on the wrist part 7 directly. Accordingly the given force is transmitted to a coupling member 16, no force will be transmitted to the body 12a of a working tool of the end effecter 12 at the tip of the wrist part 7. As a result, a force sensor 10 senses no other forces than the reaction force receiving from the object to be processed.
Bibliography:Application Number: JP19950102445