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公开(公告)号：DE69714715T2
公开(公告)日：2003-04-24
申请号：DE69714715
申请日：1997-03-14
Applicant: ABB AB VAESTERAAS
Inventor： BROGAARDH TORGNY
Abstract: A device for relative movement of two elements comprises two link arrangements coupled in series using a connection arrangement. A first link arrangement comprises at least three links which are substantially equal in length and parallel. The links are positioned in a substantially triangular relation viewed along the longitudinal direction of the links, between the connection arrangement and a second of the elements. A second link arrangement comprises at least one parallelogram acting between the connection arrangement and a first of the elements. First and second force applying arrangements are adapted to cause the first link arrangement to pivot. A third force applying arrangement is adapted to cause the second link arrangement to pivot.
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公开(公告)号：AT222161T
公开(公告)日：2002-08-15
申请号：AT97914704
申请日：1997-03-14
Applicant: ABB AB
Inventor： BROGAARDH TORGNY
Abstract: A device for relative movement of two elements comprises two link arrangements coupled in series using a connection arrangement. A first link arrangement comprises at least three links which are substantially equal in length and parallel. The links are positioned in a substantially triangular relation viewed along the longitudinal direction of the links, between the connection arrangement and a second of the elements. A second link arrangement comprises at least one parallelogram acting between the connection arrangement and a first of the elements. First and second force applying arrangements are adapted to cause the first link arrangement to pivot. A third force applying arrangement is adapted to cause the second link arrangement to pivot.
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公开(公告)号：SE517356C2
公开(公告)日：2002-05-28
申请号：SE0003224
申请日：2000-09-11
Applicant: ABB AB
Inventor： BROGAARDH TORGNY
Abstract: The invention includes a manipulator to move an object with at least three arms in the space. A fist and a second arm, including two parallel links, are fixed to an element with a three-dimensional joint arrangement. The joint arrangement is arranged on the same symmetry axis within the element.
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公开(公告)号：SE9901215L
公开(公告)日：2000-10-02
申请号：SE9901215
申请日：1999-04-01
Applicant: ABB AB
Inventor： RAMSTROEM KARL-GUSTAV , BROGAARDH TORGNY
Abstract: An equipment for controlling an industrial robot, which robot has a plurality of rotation and/or translation axles (ax 1-6), comprising a motor (15) at each of said axles for generating desired movements of the arms and/or the wrist, of which the robot is constituted, a sensor at each of the axles for measuring axle angle and/or axle position, a servo (9) for each of the axles for controlling the motors based on measurement values from the sensors, and a path generator (8) for generating at least one reference (phiref, phiref, tauffw) for each of the servos (9). The equipment comprises an apparatus (1+2+3+4+5+6+7+parts of 8+18A+18B) at least one of the axles, which apparatus comprises a first device (18A) for calculation of the expected interference moment value (taudistexp) of said axle when the movable parts of the robot is not exposed to any external forces by interaction with the operator (64) or other things in the surroundings of the robot, and a second device (18B) for comparing this expected interference moment value (taudistexp) with values of the moment reference (taumr) of the servo (9) and/or with values of the moment (taum) of the motor and/or with values of the moment of the axle (14) and for forming, based on this comparison, a signal (taucontrol) for controlling the path generator (8). A method for programming/adjusting the movement of a robot is also included.
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Patent Agency Ranking
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公开(公告)号：SE0200343L
公开(公告)日：2003-08-07
申请号：SE0200343
申请日：2002-02-06
Applicant: ABB AB
Inventor： KOCK SOENKE , OESTERLEIN ROLAND , BROGAARDH TORGNY
Abstract: An industrial robot including a parallel kinematic manipulator of an object in space. The manipulator includes a stationary platform, a movable platform for carrying the object, and at least three arms connecting the platforms. Each arm includes a first arm part connected to the stationary platform for manipulating the movable platform.
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公开(公告)号：SE0003224L
公开(公告)日：2002-03-12
申请号：SE0003224
申请日：2000-09-11
Applicant: ABB AB
Inventor： BROGAARDH TORGNY
Abstract: The invention includes a manipulator to move an object with at least three arms in the space. A fist and a second arm, including two parallel links, are fixed to an element with a three-dimensional joint arrangement. The joint arrangement is arranged on the same symmetry axis within the element.
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公开(公告)号：SE516720C2
公开(公告)日：2002-02-19
申请号：SE9901215
申请日：1999-04-01
Applicant: ABB AB
Inventor： RAMSTROEM KARL-GUSTAV , BROGAARDH TORGNY
Abstract: An equipment for controlling an industrial robot, which robot has a plurality of rotation and/or translation axles (ax 1-6), comprising a motor (15) at each of said axles for generating desired movements of the arms and/or the wrist, of which the robot is constituted, a sensor at each of the axles for measuring axle angle and/or axle position, a servo (9) for each of the axles for controlling the motors based on measurement values from the sensors, and a path generator (8) for generating at least one reference (phiref, phiref, tauffw) for each of the servos (9). The equipment comprises an apparatus (1+2+3+4+5+6+7+parts of 8+18A+18B) at least one of the axles, which apparatus comprises a first device (18A) for calculation of the expected interference moment value (taudistexp) of said axle when the movable parts of the robot is not exposed to any external forces by interaction with the operator (64) or other things in the surroundings of the robot, and a second device (18B) for comparing this expected interference moment value (taudistexp) with values of the moment reference (taumr) of the servo (9) and/or with values of the moment (taum) of the motor and/or with values of the moment of the axle (14) and for forming, based on this comparison, a signal (taucontrol) for controlling the path generator (8). A method for programming/adjusting the movement of a robot is also included.
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