MAGNETISCH AUFGEHAENGTES ROBOTERHANDGELENK FUER KLEINE BEWEGUNGEN UND MIT PROGRAMMIERBARER AUSGLEICHUNG.

摘要

Selective compliance in up to six degrees of freedom in a magnetically levitated fine motion device, or robot wrist, with limited motion in X, Y, Z, ROLL, PITCH, YAW, is provided by controlled actuation currents applied to six electrodynamic forcer elements (5). The wrist has a stator support base (9) defining a dual periphery, carrying a number of stator magnet units (4). A shell flotor unit nests within the stator support base dual periphery, and carries forcer coils at locations corresponding to respective magnet units (4). The magnet unit (4) and related flotor coil (3) form a forcer element (5). There are a number of forcer elements (5). The vector sum of all the translational forces and rotational torques established at the forcer elements determines the X, Y, Z, ROLL, PITCH, YAW motion of the flotor. The flotor carries an end effector which may be a tool. Position and orientation of the flotor is monitored by light emitting diodes (7) and lateral effect colls. Coil currents are controlled as a composite of present position, desired final position, and desired compliance. As the fine motion device approaches its final position, the control unit changes forcer coil current patterns at various sets of forcer elements (5), to provide selected compliance in one or more degrees of freedom while approaching and finally while maintaining the desired position. Cooling is provided as needed; docking and locking provision is made to allow de-energizing the coils for cooling, motion of the base, or shutdown.