High precision redundant robotic manipulator
Abstract
A high precision redundant robotic manipulator for overcoming contents imposed by obstacles or imposed by a highly congested work space. One embodiment of the manipulator has four degrees of freedom and another embodiment has seven degreed of freedom. Each of the embodiments utilize a first selective compliant assembly robot arm (SCARA) configuration to provide high stiffness in the vertical plane, a second SCARA configuration to provide high stiffness in the horizontal plane. The seven degree of freedom embodiment also utilizes kinematic redundancy to provide the capability of avoiding obstacles that lie between the base of the manipulator and the end effector or link of the manipulator. These additional three degrees of freedom are added at the wrist link of the manipulator to provide pitch, yaw and roll. The seven degrees of freedom embodiment uses one revolute point per degree of freedom. For each of the revolute joints, a harmonic gear coupled to an electric motor is introduced, and together with properly designed based servo controllers provide an end point repeatability of less than 10 microns.
- Inventors:
-
- Mountain View, CA
- Issue Date:
- Research Org.:
- Lawrence Livermore National Laboratory (LLNL), Livermore, CA (United States)
- OSTI Identifier:
- 871860
- Patent Number(s):
- 5811951
- Assignee:
- Regents of University of California (Oakland, CA)
- Patent Classifications (CPCs):
-
B - PERFORMING OPERATIONS B25 - HAND TOOLS B25J - MANIPULATORS
G - PHYSICS G05 - CONTROLLING G05B - CONTROL OR REGULATING SYSTEMS IN GENERAL
- DOE Contract Number:
- W-7405-ENG-48
- Resource Type:
- Patent
- Country of Publication:
- United States
- Language:
- English
- Subject:
- precision; redundant; robotic; manipulator; overcoming; contents; imposed; obstacles; highly; congested; space; embodiment; degrees; freedom; seven; degreed; embodiments; utilize; selective; compliant; assembly; robot; arm; scara; configuration; provide; stiffness; vertical; plane; horizontal; degree; utilizes; kinematic; redundancy; capability; avoiding; lie; base; effector; link; additional; added; wrist; pitch; yaw; roll; revolute; joints; harmonic; gear; coupled; electric; motor; introduced; properly; designed; based; servo; controllers; repeatability; 10; microns; horizontal plane; electric motor; robot arm; robotic manipulator; servo control; seven degrees; redundant robotic; vertical plane; seven degree; precision redundant; kinematic redundancy; designed based; /318/901/
Citation Formats
Young, Kar-Keung David. High precision redundant robotic manipulator. United States: N. p., 1998.
Web.
Young, Kar-Keung David. High precision redundant robotic manipulator. United States.
Young, Kar-Keung David. Thu .
"High precision redundant robotic manipulator". United States. https://www.osti.gov/servlets/purl/871860.
@article{osti_871860,
title = {High precision redundant robotic manipulator},
author = {Young, Kar-Keung David},
abstractNote = {A high precision redundant robotic manipulator for overcoming contents imposed by obstacles or imposed by a highly congested work space. One embodiment of the manipulator has four degrees of freedom and another embodiment has seven degreed of freedom. Each of the embodiments utilize a first selective compliant assembly robot arm (SCARA) configuration to provide high stiffness in the vertical plane, a second SCARA configuration to provide high stiffness in the horizontal plane. The seven degree of freedom embodiment also utilizes kinematic redundancy to provide the capability of avoiding obstacles that lie between the base of the manipulator and the end effector or link of the manipulator. These additional three degrees of freedom are added at the wrist link of the manipulator to provide pitch, yaw and roll. The seven degrees of freedom embodiment uses one revolute point per degree of freedom. For each of the revolute joints, a harmonic gear coupled to an electric motor is introduced, and together with properly designed based servo controllers provide an end point repeatability of less than 10 microns.},
doi = {},
journal = {},
number = ,
volume = ,
place = {United States},
year = {Thu Jan 01 00:00:00 EST 1998},
month = {Thu Jan 01 00:00:00 EST 1998}
}