Title:
LINK ACTUATION DEVICE
Document Type and Number:
WIPO Patent Application WO/2016/098633
Kind Code:
A1
Abstract:
Provided is a link actuation device (1) capable of detecting external forces acting on the tip of the device from various directions with high accuracy using a simple and inexpensive configuration, thereby improving the safety for the overall device. The link actuation device (1) comprises a parallel link mechanism (9) wherein a base-side link hub (12) and a tip-side link hub (13) are interlinked by multiple link mechanisms (14). Orientation control actuators (10) for driving the link mechanisms (14) are each provided with a torque detection means (8). A load estimation means (5) for estimating a load acting on the tip-side link hub (13) from detection signals of the torque detection means (8) is provided.
Inventors:
ISOBE HIROSHI (JP)
YAMADA HIROYUKI (JP)
SAKATA SEIGO (JP)
KONAGAI NAOYA (JP)
YAMADA HIROYUKI (JP)
SAKATA SEIGO (JP)
KONAGAI NAOYA (JP)
Application Number:
PCT/JP2015/084357
Publication Date:
June 23, 2016
Filing Date:
December 08, 2015
Export Citation:
Assignee:
NTN TOYO BEARING CO LTD (JP)
International Classes:
B25J11/00; B25J19/02; F16H21/46
Foreign References:
| JP2013202725A | 2013-10-07 | |||
| JP2009050921A | 2009-03-12 | |||
| JPH10138187A | 1998-05-26 | |||
| JPH0991004A | 1997-04-04 | |||
| JPH09131690A | 1997-05-20 | |||
| JP2005186210A | 2005-07-14 |
Other References:
DE LUCA, A.; ET AL.: "Sensorless Robot Collision Detection and Hybrid Force/Motion Control", PROCEEDINGS OF THE 2005 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, 18 April 2005 (2005-04-18), pages 999 - 1004, XP010872060
Attorney, Agent or Firm:
SUGIMOTO, Shuji et al. (JP)
Shuji Sugimoto (JP)
Shuji Sugimoto (JP)
Download PDF: