Delta Electronics, Inc.

National Cheng-kung University

Ming-Yang Cheng

Ching-Hsiung Tsai

Mi-Ching Tsai

Chia-Hui Chen

Hong-Cheng Sheu

Ching-Shiong Tsai

Chung-Chan Hsu

Hao-Lun Huang

Liang-Yi Hsu

Po-Kung Wang

Chien-Chin Huang

Kuan-Shun Chao

A mechanical arm system includes at least two links, at least two control devices and at least two motor devices. Each of the control devices includes a first control unit, a mechanical arm control unit and a driving unit. The first control unit receives an end-position command to output a first torque signal. The mechanical arm control unit includes a rigid mechanical unit and a mechanical model unit. The rigid mechanical unit receives the first torque signal to obtain a rigid mechanical torque, and the mechanical model unit receives the rigid mechanical torque and operates the flexible mechanical model to establish the mechanical arm model for obtaining the target torque, and the target position signal is output according to the target torque. The driving unit generates a driving signal according to the target position signal to adjust a rotation angle of the corresponding motor device.

Mechanical arm system and mechanical arm control method

A magnetic-controlled actuator () with an auto-locking function for joints of a manipulation arm mainly includes an inner-layer stator (), an inner-layer mover (), an outer-layer mover (), an outer-layer stator (), and a fixing shaft (). The inner-layer mover (), the outer-layer mover (), and the outer-layer stator () have a plurality of permanent magnets, respectively. The fixed shaft () simultaneously penetrates through the inner-layer stator (), the inner-layer mover (), the outer-layer mover (), and the outer-layer stator () forming a coaxial arrangement. The inner-layer mover () rotates relatively to the inner-layer stator () to output power from the actuator (). Therefore, a cogging effect, which is produced due to interaction of the permanent magnets between the outer-layer mover () and the outer-layer stator (), is automatically produces a high cogging torque for the actuator (). Thus the actuator () provides a sufficient locking force to lock the non-stationary inner-layer mover () when a power failure occurs.

Magnetic-controlled actuator with auto-locking function for joints of manipulation arm

Growing community of inventors

Taipei, Taiwan

Ming-Yang Cheng