Robotic arm systems

• US 4,954,952 A
• Filed: 10/02/1989
• Issued: 09/04/1990
• Est. Priority Date: 02/16/1988
• Status: Expired due to Fees

• Current Assignee: TRW Limited (Zeppelin - Stiftung der Stadt Friedrichshafen)
• Original Assignee: TRW Limited (Zeppelin - Stiftung der Stadt Friedrichshafen)
• Inventors: Baker, Robert D., Ubhayakar, Shivadev K.
• Primary Examiner(s): MACDONALD, ALLEN R
• Application Number:
  US07/401,338
• Time in Patent Office: 337 Days
• Field of Search: 414/1, 901/31, 901/39, 364/513, 244/159
• US Class Current: 700/264
• CPC Class Codes: B25J 15/103 for gripping the object in three contact points
• CPC Class Codes: B25J 17/0266 comprising more than two actuating or connecting rods
• CPC Class Codes: B25J 18/06 flexible
• CPC Class Codes: B25J 19/0029 arranged within the different robot elements
• CPC Class Codes: B25J 9/0084 comprising a plurality of manipulators
• CPC Class Codes: B25J 9/06 characterised by multi-articulated arms
• CPC Class Codes: B25J 9/08 characterised by modular constructions
• CPC Class Codes: B25J 9/1085 positioning by means of shape-memory materials shape memory actuators F03G7/06
• CPC Class Codes: B25J 9/126 Rotary actuators
• CPC Class Codes: B25J 9/1625 Truss-manipulator for snake-like motion
• CPC Class Codes: G05B 19/4141 characterised by a controller or microprocessor per axis
• CPC Class Codes: G05B 2219/25353 Inductive coupling of power, transformer
• CPC Class Codes: G05B 2219/33002 Artificial intelligence AI, expert, knowledge, rule based system KBS
• CPC Class Codes: G05B 2219/33204 Optocoupler, galvanic separation, isolation
• CPC Class Codes: G05B 2219/33207 Physical means, radio, infra red, ultrasonic, inductive link
• CPC Class Codes: G05B 2219/33338 DNC distributed, decentralised nc, concurrent, multiprocessing
• CPC Class Codes: G05B 2219/34236 Multiplex for servos, actuators
• CPC Class Codes: G05B 2219/34488 One computer, controller replaces other, backup computer
• CPC Class Codes: G05B 2219/37572 Camera, tv, vision
• CPC Class Codes: G05B 2219/39549 Structure, hand has connector for power supply and control signals
• CPC Class Codes: G05B 2219/40195 : Tele-operation, computer assisted manual operation
• CPC Class Codes: G05B 2219/40234 : Snake arm, flexi-digit robotic manipulator, a hand at each end
• CPC Class Codes: G05B 2219/40303 : Arm somersaults over grid, place one hand on grid point, release other hand
• CPC Class Codes: G05B 2219/40304 : Modular structure
• CPC Class Codes: G05B 2219/41342 : Shape memory metal actuator
• CPC Class Codes: G05B 2219/41352 : Alternative clamping dilation of piezo, caterpillar motion, inchworm
• CPC Class Codes: Y10S 706/904 : Manufacturing or machine, e.g. agricultural machinery, machine tool

Abstract

A multisection flexible multidigit arm contains hands at each end, each of which hands contains a set of fingers, suitably three, which are similarly formed flexible multidigit arms constructed to a smaller scale. Each hand contains connectors for coupling the hand to a mating connector mounted on an associated structure to provide appropriate power and control signals to the arm. One hand may grip the connector and the other hand is free to move to various positions and perform various tasks. In an additional aspect the arm may move to different locations by somersaulting between spaced connectors in the system. In an assembly system the robotic arms are used to construct frames or other assemblies.

A completely self contained arm includes a self contained source of power. Radio communication means are provided to allow electronic interaction with the arm from a remote location. In an additional aspect the self contained circuitry includes processor means programmed to control the arm to perform a certain task, relieving the operator at the remote location from specifying the details.

Control signals to the sections of the arm in an additional aspect to the disclosed invention are provided by an electrical system that uses only a few wires by multiplexing the signals and the actuators, effectively "time sharing" the electrical leads between the large number of actuators.

Claims

1. In a robotic arm system containing at least one multisection robotic arm each of which arms contain a plurality of spaced platforms and in which at least three actuators are carried between each pair of platforms for positioning one platform relative to the paired platform, whereby the positioning of arm section is selectively changed through energization of the actuators, and control means for selectively energizing said actuators, the improvement comprising in combination therewith:

programmed processor means;

input means for inputting information into said processor means;

said processor means for receiving position information from said input means, calculating actuator displacements to achieve a position for said arm represented by said input information and generating a control signal for causing the actuator to attain the calculated position.

2. In a robotic arm system containing at least one multisection robotic arm each of which arms contain a plurality of spaced platforms and in which at least three actuators are carried between each pair of platforms for positioning one platform relative to the paired platform, whereby the positioning of arm section is selectively changed through energization of the actuators, and control means for selectively energizing of the actuators, and control means for selectively energizing said actuators, the improvement comprising in combination therewith:

programmed processor means;

input means for inputting information into said processor means;

said processor means for receiving position information from said input means, calculating actuator displacements to achieve a position for said arm represented by said input information, receiving information on the actual position of each of the actuator means, comparing the actual position and calculated position for each actuator and generating a control signal for causing the actuator to attain the calculated position.

3. The invention as defined in claim 2, wherein said control means further comprises:

actuator controller means for providing control signals for each of said actuators associated with each platform to initiate operation of said actuators, whereby said actuators may orient associated platforms with respect to adjacent platforms;

interface means for coupling the output of said processor means to said actuator controller means, said interface means including means for translating the output of said processor means to a signal information form of signal interpretable by said actuator controller means; and

said actuator controller means being responsive to the output of said interface means.

4. The invention as defined in claim 2 wherein said input means comprises:

joystick means for providing output signals responsive to manual positioning of said joystick means.

5. The invention as defined in claim 4 wherein said joystick means comprises Robotic arm replication means;

said arm being manually positionable by a user and containing sensor means for providing position information at an output representative of the position of each arm section.