公开(公告)号：US11118634B2

公开(公告)日：2021-09-14

申请号：US16495204

申请日：2018-02-24

Applicant: WASEDA UNIVERSITY

Inventor： Alexander Schmitz ,  Wei Wang ,  Alexis Carlos Holgado ,  Chincheng Hsu ,  Kento Kobayashi ,  Javier Alvarez Lopez ,  Yushi Wang ,  Shigeki Sugano

IPC: F16D7/02 ,  F16D27/12 ,  F16D27/112 ,  B25J19/00 ,  B60W30/188 ,  F16D67/06

Abstract: A torque limiter 10 includes an input unit 11 connected to a driving device M on input side, and an output unit 12 connected to a robot arm A on output side. The input unit 11 and the output unit 12 include a coupling structure in which the input unit 11 and the output unit 12 approach and recede from each other so as to enable switching of a connecting state where the input unit 11 and the output unit 12 are connected to each other and a non-connecting state where the input unit 11 and the output unit 12 are not connected to each other, through adjustment of magnetic force therebetween. The coupling structure includes an electromagnet 17 that enables adjustment of the magnetic force through adjustment of an application voltage.

公开(公告)号：US20180370031A1

公开(公告)日：2018-12-27

申请号：US15741353

申请日：2016-05-23

Applicant: WASEDA UNIVERSITY

Inventor： Alexander Schmitz ,  Soumya Bhavaraju ,  Yoshihiro Sakamoto ,  Gonzaro Aguirre Dominguez ,  Ritsuki Sato ,  Wei Wang ,  Shigeki Sugano

IPC: B25J9/16 ,  B25J13/08 ,  B25J19/00 ,  B25J19/06

Abstract: A control system (10) according to the present invention includes a robot arm (11) provided in a manner capable of moving in a given space, a motor (14) for operating the robot arm (11), a torque adjustment device (16) for operating in a manner capable of adjusting a transmitted torque that is transmitted from the motor (14) to the robot arm (11), and a control device (19) for performing operation control of the robot arm (11). The robot arm (11) is provided with a gravity-compensating mechanism (12) for cancelling an effect of gravity due to the robot arm (11), and the control device (19) commands adjustment of the transmitted torque at the torque adjustment device (16), without taking into account the effect of the gravity of the robot arm (11).

公开(公告)号：US10730184B2

公开(公告)日：2020-08-04

申请号：US15741353

申请日：2016-05-23

Applicant: WASEDA UNIVERSITY

Inventor： Alexander Schmitz ,  Soumya Bhavaraju ,  Yoshihiro Sakamoto ,  Gonzaro Aguirre Dominguez ,  Ritsuki Sato ,  Wei Wang ,  Shigeki Sugano

IPC: B25J9/16 ,  B25J13/08 ,  B25J19/00 ,  B25J19/06

Abstract: A control system (10) according to the present invention includes a robot arm (11) provided in a manner capable of moving in a given space, a motor (14) for operating the robot arm (11), a torque adjustment device (16) for operating in a manner capable of adjusting a transmitted torque that is transmitted from the motor (14) to the robot arm (11), and a control device (19) for performing operation control of the robot arm (11). The robot arm (11) is provided with a gravity-compensating mechanism (12) for cancelling an effect of gravity due to the robot arm (11), and the control device (19) commands adjustment of the transmitted torque at the torque adjustment device (16), without taking into account the effect of the gravity of the robot arm (11).

公开(公告)号：US20200025258A1

公开(公告)日：2020-01-23

申请号：US16495204

申请日：2018-02-24

Applicant: WASEDA UNIVERSITY

Inventor： Alexander Schmitz ,  Wei Wang ,  Alexis Carlos Holgado ,  Chincheng Hsu ,  Kento Kobayashi ,  Javier Alvarez Lopez ,  Yushi Wang ,  Shigeki Sugano

IPC: F16D7/02 ,  F16D27/12

Abstract: A torque limiter 10 includes an input unit 11 connected to a driving device M on input side, and an output unit 12 connected to a robot arm A on output side. The input unit 11 and the output unit 12 include a coupling structure in which the input unit 11 and the output unit 12 approach and recede from each other so as to enable switching of a connecting state where the input unit 11 and the output unit 12 are connected to each other and a non-connecting state where the input unit 11 and the output unit 12 are not connected to each other, through adjustment of magnetic force therebetween. The coupling structure includes an electromagnet 17 that enables adjustment of the magnetic force through adjustment of an application voltage.