Master hand device

マスターハンド装置

Abstract

(57)【要約】 【目的】スレーブ側チャック爪の駆動を電動機で行う場 合に、最初の開いた位置に効率よく復元でき、余分な強 度が不要な装置を提供する。 【構成】力信号を入力し、前記マスタレバーへの反力を 付与する電動機へのトルク指令を発生するトルク演算器 であって、前記力信号が目標把持力に達するまでは一定 の初期トルク指令値を発し、前記力信号が目標把持力に 達した後は力信号に比例するトルク指令値を発し、かつ スレーブ側チャック爪が開ききった状態を検知すると前 記一定の初期トルク指令値をゼロクリアするものを設け る。
PURPOSE: To improve the restoring efficiency even in the electric motor driving condition, and to make an excessive strength unnecessary, by restoring a master side to the original opening position by the initial instruction value of the master side, restoring a slave side also to the original opening position by receiving the initial instruction value at the master side, and making the initial instruction value zero together with the above restoration. CONSTITUTION: To the motor for driving a master hand, the instruction initial value of the torque instruction value is set to make a claw A9 and a claw B10 rotate in the direction (b) constantly. When an operator removes his fingers from the claw A9 and the claw B10, the claw A9 is rotated in the direction (b) until the angle to make the claw A9 in contact with a stopper 11. Then, the claw B10 is rotated also in the direction (b). generating torque operation unit of a driving motor receives the position signals of the condition opening the claw A9 and the claw B10, and detects that they are opened at specific angles. Depending on the detecting result, the instruction initial value is made zero. This rotating angle is regulated by the installing position of the stopper 11 on the upper surface of a base 3. COPYRIGHT: (C)1995,JPO

Claims

Description

Topics

Download Full PDF Version (Non-Commercial Use)

Patent Citations (0)

    Publication numberPublication dateAssigneeTitle

NO-Patent Citations (0)

    Title

Cited By (33)

    Publication numberPublication dateAssigneeTitle
    CN-103237633-AAugust 07, 2013奥林巴斯株式会社Master control input device and master-lave manipulator
    JP-2008222334-ASeptember 25, 2008Murata Mach Ltd, 村田機械株式会社Transport device
    JP-2010162650-AJuly 29, 2010Nsk Ltd, 日本精工株式会社グリッパシステム及びグリッパ、並びにマニピュレーションシステム
    JP-2012148379-AAugust 09, 2012Olympus Corp, オリンパス株式会社Master-slave manipulator and medical master-slave manipulator
    JP-2013034835-AFebruary 21, 2013Olympus Corp, オリンパス株式会社Operation support device and method for controlling the same
    JP-4682996-B2May 11, 2011村田機械株式会社搬送装置
    US-8892258-B2November 18, 2014Raytheon CompanyVariable strength magnetic end effector for lift systems
    US-8942846-B2January 27, 2015Raytheon CompanySystem and method for controlling a teleoperated robotic agile lift system
    US-8977388-B2March 10, 2015Sarcos LcPlatform perturbation compensation
    US-8977398-B2March 10, 2015Sarcos LcMulti-degree of freedom torso support for a robotic agile lift system
    US-9050727-B2June 09, 2015Olympus CorporationMaster operation input device and master-slave manipulator
    US-9161772-B2October 20, 2015Olympus CorporationSurgical instrument and medical manipulator
    US-9218053-B2December 22, 2015Olympus CorporationSurgical assistant system
    US-9244523-B2January 26, 2016Olympus CorporationManipulator system
    US-9244524-B2January 26, 2016Olympus CorporationSurgical instrument and control method thereof
    US-9283679-B2March 15, 2016Olympus CorporationMaster-slave manipulator and medical master-slave manipulator
    US-9314921-B2April 19, 2016Sarcos LcRobotic lift device with human interface operation
    US-9423869-B2August 23, 2016Olympus CorporationOperation support device
    US-9477301-B2October 25, 2016Olympus CorporationOperation support device and assembly method thereof
    US-9519341-B2December 13, 2016Olympus CorporationMedical manipulator and surgical support apparatus
    US-9524022-B2December 20, 2016Olympus CorporationMedical equipment
    US-9533411-B2January 03, 2017Sarcos LcSystem and method for controlling a teleoperated robotic agile lift system
    US-9568992-B2February 14, 2017Olympus CorporationMedical manipulator
    US-9616580-B2April 11, 2017Sarcos LcEnd effector for a robotic arm
    US-9632573-B2April 25, 2017Olympus CorporationMedical manipulator and method of controlling the same
    US-9632577-B2April 25, 2017Olympus CorporationOperation support device and control method thereof
    US-9671860-B2June 06, 2017Olympus CorporationManipulation input device and manipulator system having the same
    US-9789603-B2October 17, 2017Sarcos LcTeleoperated robotic system
    US-9851782-B2December 26, 2017Olympus CorporationOperation support device and attachment and detachment method thereof
    WO-2012073789-A1June 07, 2012オリンパス株式会社Master control input device and master-slave manipulator
    WO-2012099111-A1July 26, 2012オリンパス株式会社Master-slave manipulator and medical master-slave manipulator
    WO-2012149435-A3September 12, 2013Raytheon CompanySystème et procédé de commande d'un système de levage maniable robotisé télécommandé
    WO-2013018912-A1February 07, 2013Olympus CorporationOperation support device and control method thereof