METHOD FOR CONTROLLING ROBOT ARM STRUCTURE, ROBOT ARM MECHANISM, ROBOT ARM STRUCTURE, WORKPIECE PROCESSING SYSTEM, AND PRODUCT MANUFACTURING METHOD

PROBLEM TO BE SOLVED: To provide a robot arm structure capable of conducting non-radial linear motion and three-dimensional motion.SOLUTION: The robot arm structure (10) has at least a link 1 and a link 2, and θ motion is provided about a primary axis (z1) at the proximal end portion of the proximal...

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Bibliographische Detailangaben
Hauptverfasser:	PETKOV PETER, TOTEV VALENTIN, GENOV GENCO, BONEV EUGENE, SOTIROV ZLATKO, KOSTOV LUBO, TODOROV ALEXANDER
Format:	Patent
Sprache:	eng
Schlagworte:	BASIC ELECTRIC ELEMENTS CHAMBERS PROVIDED WITH MANIPULATION DEVICES CONTROL OR REGULATING SYSTEMS IN GENERAL CONTROLLING CONVEYING ELECTRIC SOLID STATE DEVICES NOT OTHERWISE PROVIDED FOR ELECTRICITY FUNCTIONAL ELEMENTS OF SUCH SYSTEMS GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS HAND TOOLS HANDLING THIN OR FILAMENTARY MATERIAL MANIPULATORS MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS PACKING PERFORMING OPERATIONS PHYSICS PNEUMATIC TUBE CONVEYORS PORTABLE POWER-DRIVEN TOOLS REGULATING SEMICONDUCTOR DEVICES SHOP CONVEYOR SYSTEMS STORING TECHNICAL SUBJECTS COVERED BY FORMER USPC TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ARTCOLLECTIONS [XRACs] AND DIGESTS TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING ORTIPPING TRANSPORTING
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Beschreibung
Zusammenfassung:	PROBLEM TO BE SOLVED: To provide a robot arm structure capable of conducting non-radial linear motion and three-dimensional motion.SOLUTION: The robot arm structure (10) has at least a link 1 and a link 2, and θ motion is provided about a primary axis (z1) at the proximal end portion of the proximalmost of the link 1. R motion proceeds radially from the primary axis, whereby the distal end portion of the distalmost of a link 3 can be moved in a radially extending straight line. An end effector (18) is pivotally mounted for rotation relative to the distal end portion of the distalmost link 3 about an end effector axis which is parallel to the primary axis. The structure (10) is improved by adding one or more of a yaw motor, a pitch motor and a roll motor 302 for rotating the wrist of the arm about the respective axis. A sensor array senses one or more of r, θ, z, yaw, pitch and roll motions, and a computer monitors and controls one or more of r, θ, z, yaw, pitch, and roll motions.