Wire-and-pully drive link mechanism and control system for drivi

Details Wire-and-pully drive link mechanism and control system for drivi Wire-and-pully drive link mechanism and control system for drivi

1997-08-01

2000-08-22

Grant, William

Data processing: generic control systems or specific application

Specific application, apparatus or process

Robot control

700246, 700247, 901 36, 901 39, 901 21, G05B 1500, G05B 1900

Patent

active

061085898

ABSTRACT:
A wire-and-pulley drive link mechanism such as a robot hand, comprising a base, a linkage connected to said base by a first joint and having a first link and a second link connected by a second joint like fingers. The base carries motors for individual links. A wire-and-pulley drive system is provided such that said linkage moves relative to said base and said first link moves relative to said second link moves when driven by said motors. The wire is made of amorphous material and a coil is wound on each of the wires to detect stress or tensile force by sensing a change of magnetic permeability generated when the wire is subject to external force. A control system having a joint servo is provided and determines a manipulated variable to be supplied to the motor based on at least the detected stress and a servo gain.

REFERENCES:
patent: 3820120 (1974-06-01), Yamada
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patent: 5373747 (1994-12-01), Ogawa et al.
patent: 5437490 (1995-08-01), Mimura et al.
patent: 5592999 (1997-01-01), Matsuura et al.
patent: 5599151 (1997-02-01), Daum et al.
patent: 5647723 (1997-07-01), Rush
patent: 5876325 (1999-03-01), Mizuno et al.
Abstract of English JP 6-8178

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