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1. 发明授权

US07765891B2 Robotic compliance mechanism 有权
标题翻译：机器人遵从机制
公开(公告)号：US07765891B2
公开(公告)日：2010-08-03
申请号：US11166703
申请日：2005-06-24
申请人： Mark Dennis Anderson , Mark August Toffle
发明人： Mark Dennis Anderson , Mark August Toffle
IPC分类号： B25J17/00
CPC分类号： B25J17/0208 , F16D3/04 , F16D3/06 , Y10T74/1848 , Y10T74/20329
摘要： A mechanism provides compliance between a tool and a robotic arm and includes a base with a first face. The mechanism includes a post assembly with a thrust washer and a mounting post attached to the thrust washer. The thrust washer engages the first face to form a compliance joint that permits a compliance range of sliding translational motion along the first face. The mechanism comprises springs that slideably engage an outer rim surface of the post assembly and providing a compliance force resisting the sliding translational motion. A retainer is mounted to the base and compresses the thrust washer against the first face and limits rotational motion of the assembly out of a plane of the first face.
摘要翻译：一种机构提供了工具与机器臂之间的顺应性并且包括具有第一面的底座。该机构包括具有止推垫圈的柱组件和附接到推力垫圈的安装柱。止推垫圈接合第一面以形成顺应接头，其允许沿着第一面的滑动平移运动的顺应范围。该机构包括可滑动地接合柱组件的外缘表面并提供抵抗滑动平移运动的顺应力的弹簧。保持器安装到基座并且将推力垫圈压靠第一面并将组件的旋转运动限制在第一面的平面之外。

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