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1. 发明申请

WO2020234138A1 A MULTI-BACKHOE LINKAGE MECHANISM 审中-公开
公开(公告)号：WO2020234138A1
公开(公告)日：2020-11-26
申请号：PCT/EP2020/063573
申请日：2020-05-15
申请人： COGNIBOTICS AB
发明人： NILSSON, Adam
IPC分类号： E02F3/42
摘要： A multi-backhoe linkage mechanism, operable for rotating an output link (10) around an output axis of rotation (A6) of an output joint (J6) at a base (B0), includes a first closed kinematic chain (L0), including the output link (10), a connecting link (14), and an input link (12). The output link (10) is connected via the output joint (J6) to the base (B0) and via a connecting joint (J10) to the connecting link (14). The connecting link (14) is connected via a bridging joint (J14) to the input link (12). The first closed kinematic chain (L0) additionally includes a base link (8) connected to the base (B0) and to the input link (12). One or more additional closed kinematic chains (La, Lb, Lc) are connected in a series after the first closed kinematic chain (L0). Each additional closed kinematic chain (La, Lb, Lc) is connected to the previous closed kinematic chain (L0, La, Lb) such that actuation of the additional closed kinematic chain (La, Lb, Lc) amplifies the angle of rotation of the output link (10) around the output axis of rotation (A6).

2. 发明申请

WO2017167687A3 METHOD, CONSTRAINING DEVICE AND SYSTEM FOR DETERMINING GEOMETRIC PROPERTIES OF A MANIPULATOR 审中-公开
标题翻译：用于确定机器人的几何特性的方法，约束装置和系统
公开(公告)号：WO2017167687A3
公开(公告)日：2017-10-05
申请号：PCT/EP2017/057187
申请日：2017-03-27
申请人： COGNIBOTICS AB
发明人： NILSSON, Klas , NILSSON, Adam , STOLT, Andreas , SÖRNMO, Olof , HOLMSTRAND, Martin , NILSSON, Niklas
IPC分类号： G05B19/401 , B25J9/16
摘要： A method and system for determining geometric properties of a manipulator (2). The manipulator (2) is controlled to perform constrained motions exhibiting force interaction with the environment, or between different links of the manipulator (2), such that a kinematic chain is formed mechanically. The chain may include peripherals and external axes of motion. A constraining device, enables motions that facilitate the determination of geometric properties. A unified model of joint and link compliances facilitates determination of stiffness parameters. The force interaction is controlled with awareness of friction such that non- geometric properties are possible to identify, thereby enabling separation of non-geometric effects from the geometric ones, which improves accuracy.
摘要翻译：用于确定操纵器（2）的几何特性的方法和系统。控制操纵器（2）以执行与环境或与操纵器（2）的不同连杆之间的力相互作用的约束运动，使得运动链机械地形成。链条可以包括外围设备和外部运动轴。约束装置能够实现便于确定几何特性的运动。联合和链接一致性的统一模型便于确定刚度参数。力的相互作用是通过对摩擦的了解来控制的，这样就可以识别非几何属性，从而可以将非几何效应与几何效应区分开来，从而提高精度。

3. 发明申请

WO2021064082A1 A METHOD FOR DETERMINING PLACEMENT OF PARALLEL-KINEMATIC MACHINE JOINTS, AND A PARALLELKINEMATIC MACHINE WITH HIGH STIFFNESS 审中-公开
公开(公告)号：WO2021064082A1
公开(公告)日：2021-04-08
申请号：PCT/EP2020/077474
申请日：2020-10-01
申请人： COGNIBOTICS AB
发明人： BROGÅRDH, Torgny , NILSSON, Klas , HELGOSSON, Peter
IPC分类号： B25J9/16 , B25J9/00 , G06F30/17
摘要： A method for determining placement of support-platform joints (8a, 9a, 10a, 11a, 12a, 13a) on a support-platform (17) of a parallel kinematic manipulator, PKM. The PKM comprises: the support-platform (17), a first support linkage (SL1), a second support linkage (SL2) and a third support linkage (SL3). The first support linkage (SL1), the second support linkage (SL2) and the third support linkage (SL3) together comprises at least five support-links (8, 9, 10, 11, 12, 13). The method comprises estimating (S1) parameters indicative of stiffness for the PKM, based on a kinematic model and an elastic model of the PKM and chosen defined forces and/or torques applied to a tool (22) during a processing sequence, and checking (S2) whether the estimated parameters indicative of stiffness of the PKM fulfill one or more stiffness criteria. Upon the estimated parameters indicative of stiffness fulfilling one or more stiffness criteria, the method comprises choosing (S3) the current placement configuration as an optimal placement configuration of the support-platform joints. The disclosure also relates to a system comprising a computer configured to perform the method and to output an optimal placement configuration, and a PKM with support-platform joints that are placed to the support- platform according to the optimal placement configuration outputted by the computer. The disclosure also relates to PKMs with support-platform joints that are placed to the support- platform to achieve high stiffness.

4. 发明申请

WO2015030650A2 METHOD AND SYSTEM FOR DETERMINATION OF AT LEAST ONE PROPERTY OF A MANIPULATOR 审中-公开
标题翻译：用于确定操纵器的最小一个属性的方法和系统
公开(公告)号：WO2015030650A2
公开(公告)日：2015-03-05
申请号：PCT/SE2014/050965
申请日：2014-08-25
申请人： COGNIBOTICS AB
发明人： NILSSON, Klas , NILSSON, Adam , HAAGE, Mathias , OLOFSSON, Björn , ROBERTSSON, Anders , SÖRNMO, Olof
IPC分类号： B25J9/16
CPC分类号： B25J9/1653 , G05B2219/39183 , G05B2219/39186 , G05B2219/40527
摘要： A method and system for determining at least one property associated with a selected axis of a manipulator. The elasticity of the links and joints of a manipulator can be modeled and the resulting compliance can be determined. A certain method is used to control the manipulator such that certain quantities related to actuator torque and/or joint position can be determined for a certain kinematic configuration of the manipulator. Depending on the complexity of the manipulator and the number of properties that are of interest, the manipulator is controlled to a plurality of different kinematic configurations in which configurations the quantities are determined. Thereafter, a stiffness matrix for each component of the manipulator can be determined, and a global stiffness matrix for the total manipulator can be determined in order to determine at least one property of the selected axis.
摘要翻译：一种用于确定与机械手的选定轴相关联的至少一个属性的方法和系统。可以对机械手的连杆和接头的弹性进行建模，并且可以确定所得到的柔顺性。使用某种方法来控制操纵器，使得可以针对操纵器的某些运动结构确定与致动器扭矩和/或关节位置相关的某些量。根据操纵器的复杂性和感兴趣的属性的数量，操纵器被控制到多个不同的运动学配置，其中确定数量的配置。此后，可以确定操纵器的每个部件的刚度矩阵，并且可以确定用于整个操纵器的全局刚度矩阵，以便确定所选择的轴的至少一个属性。

5. 发明申请

WO2018087123A2 SYSTEM AND METHOD FOR INSTRUCTING A ROBOT 审中-公开
标题翻译：用于引导机器人的系统和方法
公开(公告)号：WO2018087123A2
公开(公告)日：2018-05-17
申请号：PCT/EP2017/078558
申请日：2017-11-08
申请人： COGNIBOTICS AB
发明人： GHAZAEI ARDAKANI, M. Mahdi , NILSSON, Klas
IPC分类号： B25J9/16 , G05B19/423
摘要： The disclosure relates to a system (1) and method for instructing a robot. The system (1) comprising an immersive haptic interface, such that operator interaction with a master robot arm (2) is reflected by a slave robot arm (3) arranged for interaction with a workpiece (4). The interaction of the slave robot arm (3) is reflected back to the master robot arm (2) as haptic feedback to the operator. The dynamic system is continually simulated forward and new commands are calculated for the master robot arm and the slave robot arm.
摘要翻译：本公开涉及用于指示机器人的系统（1）和方法。包括浸入式触觉界面的系统（1）使得操作员与主机器人手臂（2）的交互被布置为与工件（4）相互作用的从机器人手臂（3）反射。从机器人手臂（3）的相互作用被反射回主机器人手臂（2）作为触觉反馈给操作员。动态系统会不断地向前模拟，并为主机器人手臂和从机器人手臂计算新的命令。

6. 发明申请

WO2015030650A4 METHOD AND SYSTEM FOR DETERMINATION OF AT LEAST ONE PROPERTY OF A MANIPULATOR 审中-公开
标题翻译：确定机器人至少一个特性的方法和系统
公开(公告)号：WO2015030650A4
公开(公告)日：2015-07-23
申请号：PCT/SE2014050965
申请日：2014-08-25
申请人： COGNIBOTICS AB
发明人： NILSSON KLAS , NILSSON ADAM , HAAGE MATHIAS , OLOFSSON BJÖRN , ROBERTSSON ANDERS , SÖRNMO OLOF
IPC分类号： B25J9/16
CPC分类号： B25J9/1653 , G05B2219/39183 , G05B2219/39186 , G05B2219/40527
摘要： A method and system for determining at least one property associated with a selected axis of a manipulator (2). The elasticity of the links (4, 6, 9, 10, 13, 14) and joints (3, 5, 7, 8, 11, 12) of a manipulator (2) can be modeled and the resulting compliance can be determined. A certain method is used to control the manipulator (2) such that certain quantities related to actuator torque and/or joint position can be determined for a certain kinematic configuration of the manipulator (2). Depending on the complexity of the manipulator (2) and the number of properties that are of interest, the manipulator (2) is controlled to a plurality of different kinematic configurations in which configurations the quantities are determined. Thereafter, a stiffness matrix (K) for each component of the manipulator (2) can be determined, and a global stiffness matrix (MSM) for the total manipulator (2) can be determined in order to determine at least one property of the selected axis.
摘要翻译：一种用于确定与操纵器（2）的选定轴相关联的至少一个属性的方法和系统。操纵器（2）的连杆（4,6,9,10,13,14）和接头（3,5,7,8,11,12）的弹性可以被建模，并且可以确定所得的顺应性。使用某种方法来控制操纵器（2），使得对于操纵器（2）的某种运动学配置可以确定与执行器扭矩和/或关节位置相关的特定量。取决于操纵器（2）的复杂性和感兴趣的属性的数量，操纵器（2）被控制为多个不同的运动配置，其中配置量被确定。之后，可以确定操纵器（2）的每个部件的刚度矩阵（K），并且可以确定总操纵器（2）的总体刚度矩阵（MSM）以确定所选择的至少一个特性轴。

7. 发明申请

WO2021032680A1 A PARALLEL-KINEMATIC MACHINE WITH VERSATILE TOOL ORIENTATION 审中-公开
公开(公告)号：WO2021032680A1
公开(公告)日：2021-02-25
申请号：PCT/EP2020/072999
申请日：2020-08-17
申请人： COGNIBOTICS AB
发明人： BROGÅRDH, Torgny , NILSSON, Klas , NILSSON, Adam
IPC分类号： B25J9/00
摘要： A parallel kinematic machine, PKM, comprising: a support platform (17a), a first support linkage (SL1); a second support linkage (SL2) and a third support linkage (SL3), wherein the first support linkage (SL1), the second support linkage (SL2) and the third support linkage (SL3) together comprises at least five support links (8, 9, 10, 11, 12, 13). The PKM further comprises: a tool base (140) comprising a shaft joint (24, 40, 41, 200, 202, 262a, 262b), a tool base shaft (19) and a tool platform (17b). The tool base shaft (19) is connected to the support platform (17a) via the shaft joint (24, 40, 41, 200, 202, 262a, 262b), and wherein the tool platform (17b) and the tool base shaft (19) are rigidly connected. The PKM also comprises one or more tool linkages (TL1, TL2, TL3) each comprising a tool link (26, 31; 29, 32; 38) connected at one end via a tool base joint (25, 28, 37) to the tool base (140), and at the other end connected via a tool carriage joint (27, 30, 39) to a carriage arranged for movement along a path; and wherein each tool linkage (TL1, TL2, TL3) is configured to rotate the tool base shaft (19) around at least one axis relative the support platform (17), by transferring a movement of the respective tool linkage (TL1, TL2, TL3) to the tool base shaft (19).

8. 发明申请

WO2019138025A1 AN INDUSTRIAL ROBOT ARM 审中-公开
公开(公告)号：WO2019138025A1
公开(公告)日：2019-07-18
申请号：PCT/EP2019/050611
申请日：2019-01-11
申请人： COGNIBOTICS AB
发明人： BROGÅRDH, Torgny , NILSSON, Adam , NILSSON, Klas
IPC分类号： B25J9/00 , B23Q1/54
摘要： A robot arm (500) for end-effector motion. The robot arm comprises a first actuator (4) and a first kinematic chain from the first actuator to an end-effector platform, which gives a first degree of freedom for positioning the end-effector platform. The robot arm also comprises a second actuator (5; 5b) and a second kinematic chain from the second actuator to the end-effector platform, which gives a second degree of freedom for positioning the end-effector platform. The robot arm further comprises a third actuator (6; 6b, 512) and a third kinematic chain from the third actuator (6; 6b) to the end-effector platform, which gives a third degree of freedom for positioning the end-effector platform. The robot arm also comprises a fourth actuator (50; 150) and a fourth kinematic chain configured to transmit a movement of the fourth actuator to a corresponding orientation axis (65) for an end-effector (28). The fourth kinematic chain comprises an orientation linkage (52, 57, 59; 202, 204, 207, 209; 284, 286; 251, 256, 258) mounted to the inner arm-assemblage via at least one bearing (53, 55; 206), and an orientation transmission (64B, 64A, 216; 64C, 64D, 64E; 100, 64A; 281, 279, 275; 260, 262, 264, 266, 271, 270) mounted to the end-effector platform, wherein the orientation linkage comprises an end-effector rotation link (59; 209; 258; 281) and joints (58, 60; 208, 210; 257, 259; 257, 259; 282, 280) that provide at least two degrees of freedom for each end joint of the end-effector rotation link.

9. 发明申请

WO2014065744A4 METHOD AND SYSTEM FOR DETERMINATION OF AT LEAST ONE PROPERTY OF A JOINT 审中-公开
标题翻译：确定关节至少一个特性的方法和系统
公开(公告)号：WO2014065744A4
公开(公告)日：2014-07-10
申请号：PCT/SE2013051224
申请日：2013-10-21
申请人： COGNIBOTICS AB
发明人： NILSSON KLAS
IPC分类号： B25J9/16
CPC分类号： G05B19/0428 , A61B5/1121 , B25J9/1641 , G05B2219/40381 , G05B2219/41059 , H02P29/00
摘要： The invention relates to a method for determining at least one property of a joint, such as a joint (112, 114, 116-119, 180) of a manipulator (110), wherein said joint is configured to be driven by at least one actuator, the actuator being configured to drive said joint (112, 114, 116-119, 180) via a drivetrain. The method comprises: clamping (200) said joint such that motion of the joint becomes constrained, and actuating (210) said drivetrain while monitoring at least one quantity associated with a torque of said actuator and at least one quantity associated with the actuator position in order to determine (220) at least one output value of said actuator, said output value corresponding to at least one joint position and determining (230) the at least one property of the joint based on said at least one output value. The invention further relates to a system for determining the at least one property of a joint.
摘要翻译：本发明涉及一种用于确定关节（例如操纵器（110）的关节（112,114,116-119,180））的至少一个特性的方法，其中所述关节配置成由至少一个致动器，所述致动器构造成经由传动系驱动所述接头（112,114,116-119,180）。该方法包括：夹紧（200）所述接头使得接头的运动变得受限，并且在监测与所述致动器的扭矩相关联的至少一个量和与所述致动器位置相关联的至少一个量的同时致动（210）所述传动系为了确定（220）所述致动器的至少一个输出值，所述输出值对应于至少一个关节位置并基于所述至少一个输出值确定（230）关节的至少一个特性。本发明还涉及用于确定关节的至少一个特性的系统。

10. 发明申请

WO2021122105A1 AN AGILE ROBOT ARM FOR POSITIONING A TOOL WITH CONTROLLED ORIENTATION 审中-公开
公开(公告)号：WO2021122105A1
公开(公告)日：2021-06-24
申请号：PCT/EP2020/084887
申请日：2020-12-07
申请人： COGNIBOTICS AB
发明人： BROGÅRDH, Torgny , NILSSON, Klas
IPC分类号： B25J9/00 , B25J9/0072
摘要： A robot arm (500) for positioning a tool (44) with controlled orientation. The robot arm (500) comprises an inner-arm linkage (15, 18, 29; 15, 18, 77); an outer-arm linkage (23; 81; 173; 228; 632; 384) and a first actuator (1; 249) configured to rotate the inner-arm linkage about a first axis of rotation (180). The inner-arm linkage includes a first inner link (15) that at an inner end is arranged to rotate around a fourth axis of rotation (185), and a second inner link (18) that at an inner end is arranged to rotate around a different, third axis of rotation (182, 185), wherein the axes of rotation (182, 185) are perpendicular to the first axis of rotation (180), and the rotations result in a geometric reconfiguration of the inner-arm linkage. The inner-arm linkage also includes a connection shaft (29; 77) mounted at an outer end of the first inner link and at an outer end of the second inner link by means of joints of at least one degree of freedom, is connected to the outer-arm linkage via the connection shaft, is connected to the tool and forms a first kinematic chain that gives a first degree of freedom for positioning the tool. A second actuator (2; 254) is configured to rotate the outer-arm linkage around the second axis of rotation, thereby forming a second kinematic chain giving a second degree of freedom for positioning the tool. A third actuator (3) is configured to move the outer-arm linkage by actuating the geometrically reconfigurable inner-arm linkage, resulting in a movement of the second axis of rotation around which the outer-arm linkage is arranged to rotate, thereby forming a third kinematic chain giving a third degree of freedom for positioning the tool. The robot arm also comprises one or more transmission mechanisms that in combination with the outer-arm linkage are arranged to accomplish the controlled orientation of the tool.

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