发明名称 |
Method for driving multiple-module mechanisms by a single motor and redundant modular robots produced therefrom |
摘要 |
A method for driving multiple-module mechanisms by a single motor and redundant modular robots produced therefrom comprises a flexible shaft, which transports the rotation from only one irreversible motor to the mechanisms inside all multiple modules of the robot by means of a plurality of pairs of electromagnetic clutches and respective kits of transmission and driving wheels to distribute selectively the torque/rotation of the motor independently to anyone of the robot modules, electromagnetic breaks keep the desired pose of the robot. A simple control system regulates the speed of the motor and employs simple on-off logic control of the electromagnetic clutches and breaks based on feedback of a set of sensors measuring the angle between each two consecutive robot modules. The versatile kinematics provides the possibility the same construction to be used for implementing a manipulator arm, "elephant trunk", "snake" or "earthworm".
|
申请公布号 |
US2005072260(A1) |
申请公布日期 |
2005.04.07 |
申请号 |
US20030678787 |
申请日期 |
2003.10.03 |
申请人 |
ANANIEV ANANI;PETROV EVGENIY;HADJIYSKI BANKO;KALAIKOV IVAN |
发明人 |
ANANIEV ANANI;PETROV EVGENIY;HADJIYSKI BANKO;KALAIKOV IVAN |
分类号 |
B25J9/06;B25J9/10;B25J17/02;(IPC1-7):B25J17/00 |
主分类号 |
B25J9/06 |
代理机构 |
|
代理人 |
|
主权项 |
|
地址 |
|