Six-axes manipulator
First Claim
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1. A six-axis manipulator for controlling the extremity of a robot arm, said manipulator comprising:
- a central tubular support having an axis;
four bearings on said support and each separated by 90°
in a plane perpendicular to said support axis;
a ring having a diameter larger than that of a section of said support, said section lying in said perpendicular plane;
rigid and elastic means for supporting said ring on said tubular support wherein said ring and tubular support are coaxial at rest;
at least four force sensors, for sensing forces in four directions, on each of said bearings;
logic means for converting signals from said sensors into individual translational components along three axes and into individual rotational components about said three axes; and
means for transmitting said components as command signals to said robot.
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Abstract
A six-axes manipulator consists of a central tubular support 30 equipped with four bearings A, B, C, D at 90° to each other, disposed in a plane XOY perpendicular to the axis ZZ'"'"' of the tubular support, a ring 110 with a diameter larger than that of a section of the tubular support, the ring carrying a gripping and control handle, and rigid and elastic means 120, 121, 122, 123 to support said ring on said tubular support, in such a manner that, at rest, said ring presents itself coaxially with said tubular support. Each bearing A, B, C, D is equipped with at least four force sensors.
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Citations
7 Claims
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1. A six-axis manipulator for controlling the extremity of a robot arm, said manipulator comprising:
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a central tubular support having an axis; four bearings on said support and each separated by 90°
in a plane perpendicular to said support axis;a ring having a diameter larger than that of a section of said support, said section lying in said perpendicular plane; rigid and elastic means for supporting said ring on said tubular support wherein said ring and tubular support are coaxial at rest; at least four force sensors, for sensing forces in four directions, on each of said bearings; logic means for converting signals from said sensors into individual translational components along three axes and into individual rotational components about said three axes; and means for transmitting said components as command signals to said robot. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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Specification