Hiwin Technologies Corporation

Cheng-Chin Chen

Yu-Lin Chu

Ren-Jeng Wang

Jung-Fu Hou

Chi-Hong Lin

Jia-Huei Jian

A robotic arm includes a first driving source and a second driving source mounted on a base frame, a first transmission link driven by the first driving source to turn around a first axis, a second transmission link driven by the second driving source to turn around a second axis that is parallel to the first axis, a third transmission link pivoted to the first transmission link, a first driven link pivoted to the second transmission link, a second driven link pivotally coupled between the first driven link and the base frame, a third driven link pivotally connected with the first and second driven link, and a fourth driven link pivotally coupled between the third driven link and the third transmission link. Thus, the robotic arm of the invention has a compact size and can achieve multi-degree of freedom motion.

Robotic arm

A method for load estimation and gravity compensation on a robotic arm including a joint is provided, and includes: receiving a first torque signal and a first joint angle when the arm is at a first position and subjected to a current load; generating a first torque value, correction parameters, and no-load and maximum-load torque values; changing the load applied to the arm to an unknown load; receiving a second torque signal and generating a second torque value; estimating an estimated load value of the unknown load; moving the arm to a second position; receiving a second joint angle; and generating a compensating torque value and outputting the compensating torque value to a driver module of the arm.

Growing community of inventors

Taichung, Taiwan

Cheng-Chin Chen