Master device having force reflection function

• US 6,301,526 B1
• Filed: 01/06/2000
• Issued: 10/09/2001
• Est. Priority Date: 03/12/1999
• Status: Expired due to Term

• Current Assignee: Korea Advanced Institute of Science and Technology
• Original Assignee: INSTITUTE OF SCIENCE AND TECHNOLOGY
• Inventors: Lee, Soo Yong, Lee, chong won, Kim, Mun Sang
• Primary Examiner(s): Cuchlinski, Jr., William A.
• Assistant Examiner(s): Marc, McDieunel, Marc, McDieunel
• Application Number:
  US09/478,359
• Time in Patent Office: 642 Days
• Field of Search: 700/245, 700/260, 700/248, 700/257, 700/262, 700/263, 700/264, 600/1, 600/109, 600/118, 600/595, 606/130, 901/3, 901/27, 901/28, 901/30, 901/34, 901/36, 901/54, 414/4, 414/5, 414/7, 414/730, 744/901, 744/900.2, 744/900.3, 744/900.4, 744/900.5, 744/900.6
• US Class Current: 700/260
• CPC Class Codes: B25J 13/02 Hand grip control means handles or pedals for crane control B66C13/56; for measuring the force applied to control members G01L5/22; hand-held casings for switching devices, e.g. joy-sticks H01H9/0214
• CPC Class Codes: B25J 9/0006 Exoskeletons, i.e. resembling a human figure
• CPC Class Codes: G05B 2219/40194 Force reflective, impedance shaping tele operation
• CPC Class Codes: Y10T 74/20305 Robotic arm
• CPC Class Codes: Y10T 74/20311 including power cable or connector
• CPC Class Codes: Y10T 74/20317 including electric motor
• CPC Class Codes: Y10T 74/20329 Joint between elements
• CPC Class Codes: Y10T 74/20335 Wrist

Abstract

A master device for generating motion instruction of the slave robot by sensing motion of the arm with fixed to the arm of the operator, and reflecting motion limit information by external force and physical articulation limit sensed by the robot may be simplified in a serial chain configuration so to solve problems of human fatigue and operational complexity in order to minimize dead weight of units mounted to the arm by concentrating and positioning the cylindrical rotating shaft members (44 and 45) near the body.

Claims

1. A master device having force reflecting function attached to a body of an operator for controlling robot remotely, comprising:

first combining means fixed to an upper portion of a back of the operator;

second and third combining means connected and fixed to upper and lower portions of an elbow of the operator;

fourth combining means connected and fixed to a back of a hand of the operator;

first rotating shaft means fixed to the first combining means, the first rotating shaft means having a plurality of cylindrical rotating shaft members;

first connecting means of which one end is joined to the first rotating shaft means and the other end is serially connected through a plurality of rotating link members to a plurality of connecting members joined to the second combining means;

third rotating shaft means having a plurality of cylindrical rotating shaft members joined to the second combining means through connecting members;

second rotating shaft means having cylindrical rotating shaft members, the second rotating shaft means joined between the second combining means and the third combining means through connecting members; and

second connecting means of which one end is joined to the fourth rotating shaft means and the other end is serially connected through a plurality of rotating link members to a plurality of connecting members joined to the third rotating shaft means,

wherein the first rotating shaft means senses motion of a shoulder of the operator, the second rotating shaft means senses motion of the elbow of the operator, and the third rotating shaft means senses motion of a wrist of the operator.

2. A master device as claimed in claim 1, wherein each of the second, third and fourth combining means, the rotating link members, and the second connecting members connecting the third rotating shaft means has a predetermined length such that the rotating link members and the third rotating shaft means are positioned close to the body of the operator.

3. A master device as claimed in claim 1, wherein the first rotating shaft means includes first, second and third cylindrical rotating shaft members in three directions such that a position of an arm of the operator is determined according to motion of an articulation of the shoulder of the operator.

4. A master device as claimed in claim 1 or 2, wherein the third rotating shaft means includes fourth, fifth and sixth cylindrical rotating shaft members in three directions such that a position of a hand of the operator is determined by angle of rotation of the rotating shaft members according to motion of the wrist of the operator.

5. A master device as claimed in claim 1,

wherein a plurality of the rotating link members for connecting the first connecting means are first, second and third rotating link members; and

wherein the first connecting means further comprises;

first connecting member of which one end is joined to the first rotating shaft means and the other end is joined to the first rotating link member;

second connecting member for connecting the first rotating link member and the second rotating link member; and

third connecting member joined to the second combining means through a connecting member for connecting the third rotating link member and the second rotating link member.

6. A master device as claimed in claim 1 or 5,

wherein a plurality of the rotating link members for connecting the second connecting means are fourth, fifth and sixth rotating link members;

and

wherein the second connecting means comprises;

fourth connecting member of which one end is joined to the third rotating shaft means and the other end is joined to the fourth rotating link member;

fifth connecting member for connecting the fourth rotating link member and the fifth rotating link member; and

sixth connecting member joined to a lower portion of the fourth combining means for connecting the sixth rotating link member and the fifth rotating link member.

7. A master device as claimed in claim 1,

wherein a plurality of the rotating link members for connecting the first connecting means are first, second and third rotating link members;

wherein a plurality of the rotating link members for connecting the second connecting means are fourth, fifth and sixth rotating link members; and

wherein the first rotating link member and the fourth rotating link member further comprise means for determining initial Calibration position determining unit in order to compensate position thereof according to an arm length and a hand size of the operator.

8. A master device as claimed in claim 1, each of the cylindrical rotating shaft members includes:

a direction determining unit connected to each connecting member for measuring a motional direction of the arm;

a gear unit for controlling torque;

a torque generating unit having an electrical brake motor or servo motor; and

a position determining unit for measuring motion of the arm with use of angle of rotation.

9. A master device as claimed in claim 8, wherein the direction determining unit comprises:

a first circular disk having elongated thorough holes in upper and lower portions connected to a support core, and a thorough hole in a center portion;

a second circular disk having a plurality of protrusions interposed into the elongated thorough holes and the thorough hole;

a torsion spring positioned between the first circular disk and the second circular disk for connecting the two discs with preload; and

a limit switch for sensing relative dimension of rotating load of each connecting member and the preload of the torsion spring.

10. A master device as claimed in claim 8, wherein the master device is used as a teaching device by only using the position determining unit without force reflecting function after eliminating the torque generating unit having the electrical break motor or servo motor.

11. A master device as claimed in claim 1,

wherein the first and second connecting means include two parallel tubes, respectively;

and

wherein sixth and seventh connecting members are connected to each tube so to be moved linearly, vertically.