Cognibotics Ab

Cognibiotics Ab

Klas Nilsson

Torgny Brogardh

Adam Nilsson

Olof Sornmo

Mathias Haage

Bjorn Olofsson

Anders Robertsson

M Mahdi Ghazaei Ardakani

Martin Holmstrand

Mattias Svahn

Niklas Nilsson

Carlos Sedglach

Andreas Stolt

Edvin Malm

Peter Helgosson

Torgny BROGÅRDH

Olof SÖRNMO

Björn Olofsson

A method for determining placement of support-platform joints () on a support-platform () of a parallel kinematic manipulator, PKM. The PKM comprises: the support-platform (), a first support linkage (SL), a second support linkage (SL) and a third support linkage (SL). The first support linkage (SL), the second support linkage (SL) and the third support linkage (SL) together comprises at least five support-links (). The method comprises estimating (S) 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 () during a processing sequence, and checking (S) 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 (S) 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.

Method for determining placement of parallel-kinematic machine joints, and a parallel-kinematic machine with high stiffness

A parallel kinematic machine (PKM) includes a support platform and first, second, and third support linkages. The first, second, and third support linkages together include at least five support links. The PKM further includes a tool base having a shaft joint, a tool base shaft, and a tool platform. The tool base shaft is connected to the support platform via the shaft joint, rigidly connecting the tool platform and the tool base shaft. The PKM also includes one or more tool linkages, each including a tool link connected at one end, via a tool base joint, to the tool base, and at the other end connected, via a tool carriage joint, to a movable carriage. Each tool linkage is configured to rotate the tool base shaft around at least one axis relative to the support platform by transferring a movement of the respective tool linkage to the tool base shaft.

Parallel-kinematic machine with versatile tool orientation

A robot arm () for positioning a tool () with controlled orientation. The robot arm () comprises an inner-arm linkage (); an outer-arm linkage () and a first actuator () configured to rotate the inner-arm linkage about a first axis of rotation (). The inner-arm linkage includes a first inner link () that at an inner end is arranged to rotate around a fourth axis of rotation (), and a second inner link () that at an inner end is arranged to rotate around a different, third axis of rotation (), wherein the axes of rotation () are perpendicular to the first axis of rotation (), and the rotations result in a geometric reconfiguration of the inner-arm linkage. The inner-arm linkage also includes a connection shaft () 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 () 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 () 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.

Agile robot arm for positioning a tool with controlled orientation

A robot arm includes a first kinematic chain from a first actuator to an end-effector platform, providing a first degree of freedom for positioning the end-effector platform; a second kinematic chain from a second actuator to the end effector platform, providing a second degree of freedom for positioning the end effector platform; a third kinematic chain from a third actuator to the end-effector platform, providing a third degree of freedom for positioning the end-effector platform; and a fourth kinematic chain configured to transmit movement of a fourth actuator to a corresponding orientation axis of an end-effector. The fourth kinematic chain includes an orientation linkage mounted to an inner arm assemblage via at least one bearing mounted to the end-effector platform, wherein the orientation linkage includes an end-effector rotation link and joints that provide at least two degrees of freedom for each end joint of the end-effector rotation link.

Industrial robot arm

A parallel kinematic machine, PKM, comprising: a support platform (), a first support linkage (SL); a second support linkage (SL) and a third support linkage (SL), wherein the first support linkage (SL), the second support linkage (SL) and the third support linkage (SL) together comprises at least five support links (). The PKM further comprises: a tool base () comprising a shaft joint (), a tool base shaft () and a tool platform (). The tool base shaft () is connected to the support platform () via the shaft joint (), and wherein the tool platform () and the tool base shaft () are rigidly connected. The PKM also comprises one or more tool linkages (TL, TL, TL) each comprising a tool link () connected at one end via a tool base joint () to the tool base (), and at the other end connected via a tool carriage joint () to a carriage arranged for movement along a path; and wherein each tool linkage (TL, TL, TL) is configured to rotate the tool base shaft () around at least one axis relative the support platform (), by transferring a movement of the respective tool linkage (TL, TL, TL) to the tool base shaft ().

A robot arm () for end-effector motion. The robot arm comprises a first actuator () 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 () 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 () and a third kinematic chain from the third actuator () 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 () and a fourth kinematic chain configured to transmit a movement of the fourth actuator to a corresponding orientation axis () for an end-effector (). The fourth kinematic chain comprises an orientation linkage () mounted to the inner arm-assemblage via at least one bearing (), and an orientation transmission (B,A,C,D,E;A;) mounted to the end-effector platform, wherein the orientation linkage comprises an end-effector rotation link () and joints () that provide at least two degrees of freedom for each end joint of the end-effector rotation link.

The disclosure relates to a system () and method for instructing a robot. The system () comprising an immersive haptic interface, such that operator interaction with a master robot arm () is reflected by a slave robot arm () arranged for interaction with a workpiece (). The interaction of the slave robot arm () is reflected back to the master robot arm () 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.

System and method for instructing a robot

A method and system for determining geometric properties of a manipulator (). The manipulator () is controlled to perform constrained motions exhibiting force interaction with the environment, or between different links of the manipulator (), 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.

Method, constraining device and system for determining geometric properties of a manipulator

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 (K) for each component of the manipulator () can be determined, and a global stiffness matrix (MSM) for the total manipulator () can be determined in order to determine at least one property of the selected axis.

Method and system for determination of at least one property of a manipulator

The invention relates to a method for determining at least one property of a joint, such as a joint (-) of a manipulator (), wherein said joint is configured to be driven by at least one actuator, the actuator being configured to drive said joint (-) via a drivetrain. The method comprises: clamping () said joint such that motion of the joint becomes constrained, and actuating () 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 () at least one output value of said actuator, said output value corresponding to at least one joint position and determining () 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.

Growing community of inventors

Lund, Sweden

Klas Nilsson