FORCE LIMITING DEVICE AND METHOD

摘要

The present invention relates to a method and apparatus for limiting the contact force between a moving device and another object, using a parallel mechanism and torque limiters where the threshold force to activate the force limiting mechanism is not related to the configuration of the moving device or the location of the contact force relative to the activation point of the force limiting mechanism, and where the mechanism may be configured for one, two or three degrees of freedom. A counterbalance mechanism is also provided to counteract gravity load when the force limiting mechanism is configured for three degrees of freedom and responsive to contact forces including a vertical element. In particular, the invention relates to a method and apparatus for limiting the contact force between a moving robotic device and a contactable object.

主权项

1. A method for limiting a contact force of a robot with an object, the method comprising:
operatively attaching a force limiting device between a robot and a suspended portion; wherein the force limiting device:
includes at least one parallelogram linkage including a joint; andis activated by an activation force; transmitting a contact force to the force limiting device when the suspended portion contacts an object; activating the force limiting device when the contact force exceeds the activation force, such that the force limiting device becomes compliant; and decreasing the contact force inputted to the object by the suspended portion when the force limiting device becomes compliant.