Commissariat &#xc0; L'&#xc9;nergie Atomique Et Aux &#xc9;nergies Alternatives

Commissariat a L'energie Atomique

Florian Gosselin

Alain Riwan

Dominique Ponsort

Fabien Ferlay

Eric Villedieu

Xavier Lamy

Christian Dechelle

Javier Martin

Jean-Pierre Friconneau

Franck Gonzalez

Tanguy Jouan-De-Kervenoael

The invention relates to a robot comprising a tool (), a first chain of elements having a proximal end element () and a distal end element () to which the tool is connected, at least one control member () of the robot connected to one of the elements of the first chain of elements other than the distal end element, control means () for at least one part of the first element chain and the control member in order to associate, with a movement of the control member relative to the proximal end element along at least one degree of freedom of the control member, a more complex movement of the distal end element relative to the proximal end element along at least one of the degrees of freedom of the distal end element.

Co-handling robot comprising robot control means

A control device with force feedback including: a handle operated by a user, the handle including a grab area for taking hold by the user and a contact end secured to the grab area during at least part of operation of the control device; a robot including a terminal body including a contact area which can come into contact with the contact end; a mechanism measuring relative configuration of the handle and the terminal body; a controller controlling movement of the contact area relative to the contact end; the contact end being movable relative to the contact area during at least part of the operation of the control device, and the contact end and the contact area are shaped such that the robot applies to the handle a force feedback in at least two separate directions during at least part of the operation of the control device.

Control device with multidirectional force feedback

A jointed limb comprising at least first () and second () rigid segments and a joint () providing rotation of the first and second segments with respect to each other about an axis of rotation (Y), said joint () comprising fibers, wherein each of the segments () comprises a body () and an end element () provided at an end of said body, both end elements () being held facing each other by said joint (), said end elements () comprising tapered profiles having vertices facing each other, each of said end elements () being made prior to being secured it to the corresponding body ().

Articulated limb for a robot or haptic interface and robot and haptic interface comprising at least one such articulated limb

A device for transmitting motion between a motor () and a mobile element, comprising an epicyclic reduction gearing with a first sun wheel () and a second sun wheel (), coaxial to each other and connected by transmission means to at least one first planet wheel () and a second planet wheel () respectively, which are carried coaxially to each other by a planet carrier () mounted to pivot eccentrically around the axis of the sun wheels, characterized in that the transmission means comprise flexible transmission elements () wound respectively around the first sun wheel and the first planet wheel, and around the second sun wheel and the second planet wheel. Epicyclic reduction gearing and manipulation arm comprising such a device.

Motion transmitting device with epicyclic reduction gearing, epicyclic reduction gearing and manipulating arm

A reducing device having a cable or a belt and cable, providing a high reduction ratio, and including: two driving drums; two sheave wheels; at least one driving cable traveling from a first driving drum to one sheave wheel, from the one sheave wheel to the second driving drum, from the second driving drum to the other sheave wheel, and from the other sheave wheel to the first driving drum; a driven cable, including one strand which travels from a fork of the one sheave wheel to a driven wheel, and one strand which travels from the driven wheel to a fork of the other sheave wheel. The driving drums have different diameters and/or different rotation speeds so rotation thereof causes movement of the sheave wheels driving the driven cable, and rotation movement of the driven wheel. The reducing device is applicable, for example, to robots and haptic interfaces.

Reducing device having a high reduction ratio, robot and haptic interface comprising at least one such reducing device

The primary object of the present invention is a jointed and instrumented limb for robot or haptic interface comprising at least first () and second () rigid segments and a joint (), said joint () comprising fibers and at least one measurement element () and being fixed in each of the rigid segments (). The present invention also has for object a robot or a haptic interface comprising at least one such jointed limb.

Jointed limb comprising fibres, and jointed structure and robot or haptic interface comprising such a jointed limb

A structure with six degrees of freedom for a robot or haptic interface including a base, two branches in parallel, and a wrist joint. The branches are installed articulated between the base and the wrist joint, the branches including a shoulder, an arm, and a forearm supporting the wrist joint. The wrist joint includes a connecting segment onto which a handle holder is articulated about a first rotation axis. A handle is articulated in rotation on the handle holder about a second rotation axis, the handle capable of being moved in rotation about the first axis, the second axis, and a third axis, and a mechanism gears down the rotation of the handle holder about at least the first rotation axis relative to rotation of the connecting segment.

Robot or haptic interface structure with parallel arms

The control unit includes an arm () sliding inside of a sheath () the angle of which can be varied and which is supported by three tensed cables () arranged in a triangle and unwinding with a certain degree of resistance from force feedback motors (). The wrist () of the control unit can be moved according to at least the three degrees of translational freedom, without having to be afraid of encountering the cables; the control unit is simple, inexpensive and possesses a satisfactory degree of stiffness. A friction-creating means, possibly consisting of another tensed cable and dependant on a motor, is placed between the sheath () and the arm (). This unit can be used for telemanipulation, telesurgery, CAD, games, etc.

Control member with tensed cables

An actuation block for a train of segments, that can be used as a manual interface terminating by a finger grip () of the user, comprises a base () fixed to the hand or arm of the user and two or three motors () oriented so that their main extension direction, or the direction of their output shaft, is parallel to a first pivoting segment () of the train. The actuation block is thus compact. Applications may include control arms or, on the contrary, force return arms.

Manual interface including an actuation block and train of articulated segments

This controller, between a fixed base () and a control handle (), comprises three similar arms () of which each comprises three links () jointed between the base and the handle platform by a pivot (), two rotation joints (and) and a ball-joint (). This controller with six degrees of freedom includes force feedback motors at the first and second joints (and) of which the first is fixed to the base () and the second to the first link (), so that the first is immobile and the other has scarce movement; the third joint () is free. The resulting structure is simple and light not requiring any parallelogram, and kinematic singularities are greatly reduced.

Control unit with three parallel branches

A link with a transmission cable () between a driving pulley () and a driven pulley () causing a mobile unit () to rotate, has two strands () connecting the driven pulley () with idle pulleys () which are substantially aligned with an axis (Y) of rotation of an part () intermediate to the unit () and to the base () on which the motor () is secured. Thus, the motor () is positioned on optionally fixed parts and rotation of the support () has only very little effect on the tension of the cable (), so that it may always work properly. The invention is especially applied to articulated robot arms.

Articulated mechanism comprising a cable reduction gear for use in a robot arm

The robot arm is composed of two parallel branches () formed from a reduced number of segments () and connected to each other by a wrist () through a wrist holder (), the directions of which are kept approximately constant by transmissions (to). The working space of this control arm is large and it is free of any kinetic singularities except at the end positions, and good decoupling of translation and rotation movements is achieved.

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Vanves, France

Florian Gosselin